version: 66.11
glider: 121
mission: 10
dive: 208
start: 3 27 113 4 26 40
data:
$ID,121
$MISSION,10
$DIVE,208
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,144
$T_MISSION,160
$T_ABORT,190
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51800
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.0056599998
$HD_B,0.0135
$HD_C,6.2300001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,560
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,5
$CAPUPLOAD,0
$CAPMAXSIZE,50000
$HEAPDBG,0
$T_GPS,30
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-100756.28
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,4069
$C_PITCH,2400
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,526
$ROLL_MAX,3878
$ROLL_DEG,40
$C_ROLL_DIVE,1975
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3600
$C_VBD,2640
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-34.938694
$PRESSURE_SLOPE,9.0818496e-05
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.3
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0.090000004
$SIM_PITCH,0
$SEABIRD_T_G,0.0042823856
$SEABIRD_T_H,0.00062054652
$SEABIRD_T_I,2.2746239e-05
$SEABIRD_T_J,2.4072633e-06
$SEABIRD_C_G,-9.8275757
$SEABIRD_C_H,1.1041691
$SEABIRD_C_I,-0.0015209455
$SEABIRD_C_J,0.00020302966
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,270313,041908,2054.629,12000.197,39,1.0,39,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.0
$GPS2,270313,042612,2054.637,12000.103,20,0.9,21,-2.8
$SPEED_LIMITS,0.160,0.240
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,30.7,93272,-18.5,-9.259,-21.12,2828
$D_GRID,3550
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.35,-170.3,82,1998,332,469,0.0,0.0,0,43,0.00,0.00,-23.00,0.000,16386,0.000,0.000,82,1998,998,986,1011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,82,1998,986,1012,3.3,-8.8,3,146,7.97,2.33,-85.80,0.000,18948,0.216,0.054,2112,567,3336,3243,3430,0,0,0,0,0,0,25.75,26.12,26.44
$GC,215,-1.35,-170.3,1264,567,3221,3427,18.9,-9.1,28,223,0.00,2.08,0.00,0.000,1030,0.000,0.015,2104,1987,3339,3248,3430,0,0,0,0,0,0,28.83,26.27,28.83
$GC,537,-1.35,-170.3,2104,1988,3250,3430,48.4,-9.1,65,543,0.00,2.05,0.00,0.000,260,0.000,0.031,2094,3359,3340,3250,3430,0,0,0,0,0,0,28.83,26.38,28.83
$GC,635,-1.35,-170.3,2093,3359,3252,3430,56.3,-8.9,70,641,0.00,2.10,0.00,0.000,1030,0.000,0.026,2102,1965,3341,3252,3430,0,0,0,0,0,0,28.83,26.43,28.83
$GC,950,-1.35,-170.3,2101,1965,3253,3430,85.1,-9.2,86,955,0.00,2.12,0.00,0.000,516,0.000,0.042,2112,570,3341,3253,3430,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1030,-1.35,-170.3,2112,570,3253,3430,91.2,-9.2,89,1038,0.00,2.03,0.00,0.000,1030,0.000,0.015,2104,1980,3342,3254,3430,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1337,-1.35,-170.3,2104,1981,3253,3430,119.2,-8.9,105,1343,0.00,2.05,0.00,0.000,260,0.000,0.031,2093,3360,3341,3253,3430,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1417,-1.35,-170.3,1280,3359,3227,3427,125.0,-8.8,108,1425,0.00,2.08,0.00,0.000,1030,0.000,0.027,2095,1974,3342,3254,3430,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1724,-1.35,-170.3,2095,1974,3253,3431,153.9,-9.9,124,1729,0.00,2.15,0.00,0.000,516,0.000,0.042,2105,564,3340,3253,3428,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1801,-1.35,-170.3,2105,564,3253,3429,160.0,-9.1,127,1807,0.00,2.03,0.00,0.000,1030,0.000,0.016,2097,1971,3340,3253,3428,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2116,-1.35,-170.3,2097,1971,3254,3426,189.7,-9.0,143,2123,0.00,2.08,0.00,0.000,260,0.000,0.032,2087,3366,3339,3253,3425,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2172,-1.35,-170.3,2087,3366,3253,3424,194.0,-9.0,145,2178,0.00,2.10,0.00,0.000,1030,0.000,0.028,2089,1969,3338,3253,3424,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2487,-1.35,-170.3,2089,1969,3253,3422,223.1,-9.2,161,2493,0.00,2.15,0.00,0.000,516,0.000,0.044,2099,567,3337,3253,3421,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2559,-1.35,-170.3,2099,567,3253,3421,229.2,-9.0,164,2566,0.00,2.05,0.00,0.000,1030,0.000,0.016,2090,1986,3337,3254,3421,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2881,-1.35,-170.3,2090,1987,3253,3417,258.5,-8.9,180,2887,0.00,2.05,0.00,0.000,260,0.000,0.034,2080,3360,3335,3253,3417,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2978,-1.35,-170.3,2080,3360,3253,3415,266.4,-9.0,184,2985,0.10,2.10,0.00,0.000,3078,0.164,0.029,2108,1969,3334,3253,3415,0,0,0,0,0,0,26.43,26.61,28.83
$GC,3294,-1.35,-170.3,2107,1969,3253,3413,295.9,-9.3,200,3300,0.00,2.15,0.00,0.000,516,0.000,0.046,2118,572,3333,3253,3413,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3366,-1.35,-170.3,2118,572,3252,3412,302.1,-9.4,203,3372,0.00,2.03,0.00,0.000,1030,0.000,0.017,2109,1972,3332,3252,3412,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3686,-1.35,-170.3,2109,1972,3251,3409,331.5,-9.0,219,3692,0.00,2.08,0.00,0.000,260,0.000,0.034,2099,3359,3329,3251,3408,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3764,-1.35,-170.3,2099,3359,3249,3408,337.5,-8.9,222,3770,0.00,2.10,0.00,0.000,1030,0.000,0.031,2105,1975,3328,3249,3408,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4078,-1.35,-170.3,2105,1974,3248,3407,367.0,-9.3,238,4084,0.00,2.17,0.00,0.000,516,0.000,0.047,2115,571,3327,3248,3406,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4113,-1.35,-170.3,2115,571,3248,3406,369.3,-9.3,239,4119,0.00,2.05,0.00,0.000,1030,0.000,0.018,2106,1975,3327,3248,3406,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4429,-1.35,-170.3,2106,1976,3245,3405,398.5,-8.8,255,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,1976,3324,3245,3404,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4446,begin apogee
$GC,4451,-0.25,0.0,2104,2309,3246,3404,400.3,-8.8,256,4612,0.73,0.00,153.57,0.869,10246,0.113,0.000,2342,2309,2633,2585,2682,0,0,0,0,0,0,26.37,28.83,24.49
$STATE,4614,end apogee,CONTROL_FINISHED_OK
$STATE,4614,begin climb
$GC,4616,1.35,170.3,2342,2309,2579,2677,386.0,0.0,263,4789,1.00,2.28,161.43,0.824,10500,0.057,0.035,2699,3674,1934,1903,1965,0,0,0,0,0,0,25.25,24.97,24.32
$GC,5036,1.38,179.3,2698,3674,1901,1946,347.7,8.9,282,5043,0.00,2.15,2.12,0.151,9222,0.000,0.025,2708,2296,1908,1884,1932,0,0,0,0,0,0,28.83,25.98,24.77
$GC,5364,1.41,194.8,2707,2295,1884,1940,318.4,8.7,298,5388,0.00,0.00,22.00,0.770,8198,0.000,0.000,2708,2295,1844,1816,1872,0,0,0,0,0,0,28.83,28.83,25.26
$GC,5682,1.44,206.2,2707,2294,1803,1854,289.8,8.8,314,5699,0.00,2.22,7.93,0.768,8452,0.000,0.034,2708,3679,1800,1771,1829,0,0,0,0,0,0,28.83,26.15,25.37
$GC,5735,1.46,215.0,2708,3678,1771,1825,285.4,8.9,316,5753,0.00,2.12,11.38,0.777,9222,0.000,0.026,2717,2298,1757,1728,1787,0,0,0,0,0,0,28.83,26.20,25.29
$GC,6050,1.47,217.8,2717,2298,1726,1777,256.4,9.2,332,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2298,1751,1726,1777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6351,1.47,217.8,2717,2298,1726,1775,229.0,9.3,347,6356,0.00,2.20,0.00,0.000,516,0.000,0.044,2728,889,1750,1726,1775,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6380,1.48,219.3,1728,888,1684,1767,226.8,9.2,348,6386,0.00,2.10,0.00,0.000,1030,0.000,0.018,2728,2304,1750,1725,1775,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6700,1.48,222.2,2728,2302,1725,1773,197.4,9.2,364,6711,0.00,2.17,3.60,0.535,8452,0.000,0.037,2728,3685,1734,1706,1762,0,0,0,0,0,0,28.83,26.44,25.38
$GC,6769,1.49,226.7,2728,3685,1705,1763,191.1,9.1,367,6785,0.00,2.12,8.15,0.708,9222,0.000,0.028,2738,2299,1711,1680,1743,0,0,0,0,0,0,28.83,26.45,25.59
$GC,7095,1.51,234.9,2738,2299,1678,1738,161.6,9.0,383,7112,0.00,2.25,8.70,0.689,8708,0.000,0.044,2749,902,1677,1644,1711,0,0,0,0,0,0,28.83,26.30,25.61
$GC,7130,1.53,240.2,2748,902,1644,1710,159.2,9.1,384,7143,0.00,2.10,4.00,0.579,9222,0.000,0.018,2748,2307,1660,1620,1700,0,0,0,0,0,0,28.83,26.38,25.38
$GC,7442,1.55,250.3,2748,2307,1620,1700,130.1,8.9,400,7463,0.00,2.22,13.00,0.653,8452,0.000,0.037,2749,3699,1613,1565,1661,0,0,0,0,0,0,28.83,26.24,25.59
$GC,7491,1.57,256.7,2748,3699,1563,1660,126.1,9.0,402,7502,0.00,2.17,4.80,0.617,9222,0.000,0.028,2758,2292,1591,1540,1643,0,0,0,0,0,0,28.83,26.27,25.34
$GC,7812,1.58,260.6,2758,2292,1540,1643,96.8,9.1,418,7824,0.00,2.20,4.57,0.582,8708,0.000,0.044,2769,889,1576,1524,1628,0,0,0,0,0,0,28.83,26.29,25.37
$GC,8016,1.62,275.5,2769,888,1524,1630,79.5,8.7,427,8040,0.00,2.10,18.60,0.587,9222,0.000,0.018,2769,2301,1515,1461,1569,0,0,0,0,0,0,28.83,26.45,25.56
$GC,8353,1.65,287.8,2769,2300,1457,1559,48.4,8.8,444,8372,0.00,2.15,12.57,0.563,8452,0.000,0.036,2769,3698,1459,1409,1509,0,0,0,0,0,0,28.83,26.22,25.61
$GC,8419,1.67,296.6,2769,3698,1409,1506,43.0,8.9,449,8432,0.00,2.15,9.10,0.565,9222,0.000,0.028,2779,2297,1430,1384,1476,0,0,0,0,0,0,28.83,26.27,25.54
$GC,8747,1.69,303.6,1728,2295,1354,1457,13.3,9.0,492,8763,0.00,2.25,5.18,0.530,8708,0.000,0.044,2789,893,1401,1361,1442,0,0,0,0,0,0,28.83,26.28,25.58
$STATE,8866,end climb,SURFACE_DEPTH_REACHED
$STATE,8866,begin surface coast
$FINISH,1.5,1.024064
$STATE,8880,end surface coast,CONTROL_FINISHED_OK
$STATE,8880,begin surface
$SM_CCo,8898,198.27,0.681,1,0,399,549.47
$SM_CCo,9105,-0.15,0.000,0,0,401,549.47
$SM_CCo,9108,0.73,0.104,0,0,400,549.47
$SM_GC,-23.93,7.60,1.65,0.73,0.073,0.015,0.104,85,1987,400,-10.56,-1.67,549.47,0,0,0,0,0,0,26.36,26.44,25.15
$IRIDIUM_FIX,2043.29,11959.28,270313,010109
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.26
$INTERNAL_PRESSURE,9.1655
$TCM_TEMP,17.20
$XPDR_PINGS,0
$SC_FREEKB,3943296
$24V_AH,24.3,34.970
$10V_AH,10.1,18.597
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.400,85.175,450.700,199.000,0.000,0.000,0.000,231.400,0.000,0.000,21.651,2055.175,4666.045,772.361,1616.131,400.692,0.000,1875.633,0.000,1416.184,0.000,1.486,0.000
$DEVICE_MAMPS,216.495,53.550,869.040,680.850,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8887.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.466,0.000,0.000,0.000
$MEM,323896
$DATA_FILE_SIZE,16827,515
$CAP_FILE_SIZE,426827,2109
$CFSIZE,260034560,227049472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.143, 46.6,1
$GPS,270313,065934,2055.838,12001.086,25,1.2,25,-2.8