version: 66.11
glider: 121
mission: 10
dive: 212
start: 3 27 113 15 13 4
data:
$ID,121
$MISSION,10
$DIVE,212
$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,-100761.3
$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,49
$R_STBD_OVSHOOT,56
$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
$GPS1,270313,150336,2059.399,11959.655,21,1.6,21,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-62.5
$GPS2,270313,151236,2059.524,11959.624,22,1.7,23,-2.9
$SPEED_LIMITS,0.160,0.240
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$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,68.8,139305,-18.5,-9.259,-21.12,2828
$D_GRID,3493
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.35,-170.3,83,1939,335,467,0.0,0.0,0,43,0.00,0.00,-23.20,0.000,16386,0.000,0.000,83,1940,1007,999,1015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,84,1940,999,1017,3.1,-8.6,3,162,7.78,2.22,-97.88,0.000,18948,0.207,0.057,2114,571,3336,3241,3432,0,0,0,0,0,0,25.78,26.13,26.46
$GC,213,-1.35,-170.3,1256,571,3214,3429,18.8,-9.3,27,221,0.00,2.08,0.00,0.000,1030,0.000,0.015,2105,1990,3338,3243,3433,0,0,0,0,0,0,28.83,26.27,28.83
$GC,536,-1.35,-170.3,2105,1991,3245,3432,48.0,-9.3,64,542,0.00,2.05,0.00,0.000,260,0.000,0.031,2096,3361,3338,3245,3432,0,0,0,0,0,0,28.83,26.39,28.83
$GC,701,-1.35,-170.3,2095,3361,3247,3432,61.4,-8.9,72,709,0.00,2.08,0.00,0.000,1030,0.000,0.025,2099,1978,3339,3247,3432,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1007,-1.35,-170.3,2099,1978,3249,3432,90.3,-9.1,88,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1978,3340,3249,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1309,-1.35,-170.3,2099,1978,3250,3432,117.4,-8.9,103,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1978,3341,3250,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1609,-1.35,-170.3,2099,1978,3249,3432,144.3,-9.2,118,1615,0.00,2.10,0.00,0.000,260,0.000,0.030,2091,3367,3340,3250,3431,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1712,-1.35,-170.3,2090,3367,3249,3433,152.4,-8.9,122,1720,0.00,2.08,0.00,0.000,1030,0.000,0.025,2091,1973,3340,3250,3431,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2017,-1.35,-170.3,2090,1973,3249,3429,181.6,-9.1,138,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1973,3339,3249,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2318,-1.35,-170.3,2090,1972,3250,3426,208.7,-9.2,153,2324,0.00,2.12,0.00,0.000,516,0.000,0.042,2099,575,3337,3249,3425,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2379,-1.35,-170.3,2098,575,3249,3425,212.8,-8.9,155,2387,0.00,2.03,0.00,0.000,1030,0.000,0.015,2091,1985,3337,3249,3425,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2686,-1.35,-170.3,2091,1986,3249,3421,240.9,-9.0,171,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1985,3335,3249,3421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2986,-1.35,-170.3,2091,1986,3249,3417,267.5,-8.8,186,2993,0.00,2.05,0.00,0.000,260,0.000,0.033,2081,3359,3333,3249,3417,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3085,-1.35,-170.3,2081,3359,3249,3415,275.6,-9.1,190,3091,0.10,2.08,0.00,0.000,3078,0.159,0.028,2106,1978,3332,3249,3415,0,0,0,0,0,0,26.44,26.61,28.83
$GC,3401,-1.35,-170.3,2106,1978,3249,3412,305.5,-8.9,206,3407,0.00,2.17,0.00,0.000,516,0.000,0.044,2116,566,3330,3249,3411,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3441,-1.35,-170.3,1304,565,3224,3407,307.7,-8.9,207,3449,0.00,2.05,0.00,0.000,1030,0.000,0.017,2108,1979,3330,3249,3411,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3747,-1.35,-170.3,2108,1979,3248,3408,336.7,-9.1,223,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,1979,3328,3248,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4049,-1.35,-170.3,2107,1979,3245,3406,363.5,-8.9,238,4055,0.00,2.08,0.00,0.000,260,0.000,0.034,2098,3363,3325,3245,3405,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4128,-1.35,-170.3,2098,3363,3243,3405,369.8,-8.8,241,4133,0.00,2.10,0.00,0.000,1030,0.000,0.029,2098,1974,3324,3243,3405,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4442,-1.35,-170.3,2098,1974,3242,3402,398.9,-8.9,257,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,1974,3322,3242,3402,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4460,begin apogee
$GC,4466,-0.25,0.0,2097,2302,3242,3401,400.7,-8.8,258,4626,0.75,0.00,144.82,1.069,10246,0.115,0.000,2342,2302,2638,2590,2687,0,0,0,0,1,0,26.36,28.83,24.22
$STATE,4628,end apogee,CONTROL_FINISHED_OK
$STATE,4628,begin climb
$GC,4630,1.35,170.3,2342,2302,2591,2686,386.5,0.0,265,4793,1.00,2.33,153.70,0.867,10500,0.057,0.034,2701,3690,1938,1907,1969,0,0,0,0,0,0,25.17,24.92,24.24
$GC,5034,1.38,179.5,2700,3690,1904,1947,349.8,8.9,283,5045,0.00,2.15,3.47,0.546,9222,0.000,0.024,2710,2302,1907,1884,1930,0,0,0,0,0,0,28.83,25.98,24.92
$GC,5354,1.38,180.2,2710,2302,1883,1933,320.2,9.2,299,5361,0.00,2.20,0.00,0.000,516,0.000,0.043,2721,898,1908,1883,1933,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5381,1.39,185.9,2720,898,1883,1933,317.9,9.1,300,5398,0.00,2.10,9.70,0.788,9222,0.000,0.017,2721,2304,1878,1854,1902,0,0,0,0,0,0,28.83,26.32,25.37
$GC,5708,1.43,199.2,2721,2304,1853,1896,288.8,8.8,316,5732,0.00,2.20,13.45,0.771,8452,0.000,0.035,2721,3690,1822,1796,1849,0,0,0,0,0,0,28.83,26.14,25.41
$GC,5850,1.45,207.5,2720,3690,1796,1845,276.9,9.0,322,5864,0.00,2.15,8.35,0.764,9222,0.000,0.025,2731,2290,1792,1765,1820,0,0,0,0,0,0,28.83,26.25,25.38
$GC,6161,1.49,224.1,2730,2290,1762,1813,248.7,8.7,338,6185,0.00,2.28,17.15,0.738,8708,0.000,0.044,2742,897,1722,1692,1752,0,0,0,0,0,0,28.83,26.07,25.41
$GC,6219,1.54,244.3,2741,897,1691,1749,244.4,8.5,340,6248,0.00,2.10,19.88,0.727,9222,0.000,0.018,2742,2298,1638,1594,1682,0,0,0,0,0,0,28.83,26.18,25.22
$GC,6561,1.57,255.5,2741,2297,1590,1675,213.2,8.9,357,6577,0.00,2.22,10.68,0.705,8452,0.000,0.036,2741,3689,1594,1544,1644,0,0,0,0,0,0,28.83,26.11,25.40
$GC,6674,1.58,263.1,2741,3689,1540,1640,203.3,9.0,362,6692,0.00,2.15,7.82,0.695,9222,0.000,0.028,2751,2297,1562,1510,1615,0,0,0,0,0,0,28.83,26.21,25.39
$GC,6992,1.61,273.5,2751,2297,1509,1610,175.0,8.9,378,7009,0.00,2.22,11.10,0.664,8708,0.000,0.043,2762,884,1520,1467,1574,0,0,0,0,0,0,28.83,26.15,25.51
$GC,7069,1.64,286.1,2762,884,1466,1569,168.9,8.8,381,7088,0.00,2.12,13.07,0.652,9222,0.000,0.018,2762,2302,1469,1417,1521,0,0,0,0,0,0,28.83,26.28,25.39
$GC,7407,1.66,291.4,2762,2302,1416,1510,137.6,9.1,398,7419,0.00,2.17,3.78,0.520,8452,0.000,0.037,2762,3685,1450,1402,1499,0,0,0,0,0,0,28.83,26.29,25.32
$GC,7459,1.69,305.3,2762,3685,1403,1499,133.4,8.8,400,7483,0.00,2.15,16.95,0.608,9222,0.000,0.028,2772,2290,1390,1348,1433,0,0,0,0,0,0,28.83,26.31,25.48
$GC,7802,1.70,308.5,2772,2290,1348,1423,101.3,9.1,417,7803,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2290,1385,1348,1423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8104,1.70,310.5,2772,2289,1348,1421,74.3,9.2,432,8109,0.00,0.00,3.60,0.458,8198,0.000,0.000,2772,2289,1373,1341,1406,0,0,0,0,0,0,28.83,28.83,25.46
$GC,8403,1.73,320.4,2772,2289,1340,1407,47.5,8.9,448,8422,0.00,0.00,12.32,0.524,8710,0.000,0.000,2772,2289,1327,1302,1352,0,0,0,0,0,0,28.83,28.83,25.75
$GC,8729,1.73,320.4,2772,2289,1301,1347,18.0,9.7,487,8737,0.00,2.17,0.00,0.000,516,0.000,0.042,2782,891,1324,1301,1347,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8762,1.75,328.3,2782,891,1301,1347,15.0,9.0,492,8778,0.00,2.08,7.62,0.496,9222,0.000,0.017,2782,2305,1297,1279,1315,0,0,0,0,0,0,28.83,26.52,25.77
$STATE,8896,end climb,SURFACE_DEPTH_REACHED
$STATE,8896,begin surface coast
$FINISH,0.0,1.022182
$STATE,8930,end surface coast,CONTROL_FINISHED_OK
$STATE,8930,begin surface
$SM_CCo,8947,139.70,0.587,1,0,399,549.47
$SM_CCo,9095,-0.25,0.000,0,0,400,549.47
$SM_CCo,9099,0.00,0.000,0,0,400,549.47
$SM_GC,-23.93,7.38,0.55,0.00,0.061,0.035,0.000,89,1948,400,-10.53,0.76,549.47,0,0,0,0,0,0,26.44,26.48,28.83
$IRIDIUM_FIX,2052.52,12000.44,270313,151539
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.16
$INTERNAL_PRESSURE,9.24363
$TCM_TEMP,21.70
$XPDR_PINGS,1
$SC_FREEKB,3941760
$24V_AH,24.2,35.564
$10V_AH,10.2,18.847
$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,17.000,65.100,457.475,139.700,0.000,0.000,0.000,339.600,0.250,0.000,24.013,1987.551,4828.112,709.841,1683.160,409.335,0.000,1888.225,0.000,1370.421,0.000,1.487,0.000
$DEVICE_MAMPS,207.315,56.610,1069.470,586.755,0.000,0.000,0.000,131.580,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8937.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.491,0.000,0.000,0.000
$MEM,324048
$DATA_FILE_SIZE,16771,521
$CAP_FILE_SIZE,415248,2028
$CFSIZE,260034560,226594816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.094,  0.3,1
$GPS,270313,174559,2100.340,12000.499,36,0.8,36,-2.9