version: 66.11
glider: 121
mission: 10
dive: 218
start: 3 28 113 7 29 59
data:
$ID,121
$MISSION,10
$DIVE,218
$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,-7
$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,-100768.84
$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,42
$R_STBD_OVSHOOT,55
$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
$GPS1,280313,071955,2106.769,12003.657,19,1.3,19,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-63.1
$GPS2,280313,072931,2106.844,12003.574,19,0.8,20,-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,30.0,124150,-18.5,-9.259,-21.12,2828
$D_GRID,3089
$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,-170.3,87,1947,338,472,0.0,0.0,0,44,0.00,0.00,-23.88,0.000,16386,0.000,0.000,87,1947,1028,1016,1040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,87,1947,1017,1042,3.2,-9.1,3,155,7.97,2.20,-89.32,0.000,18692,0.216,0.041,2094,3379,3336,3242,3430,0,0,0,0,0,0,25.77,26.16,26.48
$GC,267,-1.35,-170.3,2094,3381,3243,3431,23.2,-9.0,37,276,0.00,2.15,0.00,0.000,1030,0.000,0.025,2102,1967,3337,3244,3431,0,0,0,0,0,0,28.83,26.28,28.83
$GC,590,-1.35,-170.3,2102,1967,3248,3430,52.2,-9.0,69,596,0.00,2.12,0.00,0.000,260,0.000,0.030,2094,3372,3339,3248,3431,0,0,0,0,0,0,28.83,26.41,28.83
$GC,752,-1.35,-170.3,2094,3373,3249,3430,65.8,-9.1,76,758,0.00,2.10,0.00,0.000,1030,0.000,0.024,2101,1970,3339,3249,3430,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1067,-1.35,-170.3,2100,1969,3250,3430,95.2,-9.1,92,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1970,3340,3250,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1368,-1.35,-170.3,2100,1969,3250,3431,122.1,-8.7,107,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,1969,3340,3250,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1668,-1.35,-170.3,2100,1970,3250,3428,149.2,-9.0,122,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,1970,3339,3250,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1968,-1.35,-170.3,2100,1969,3250,3426,175.8,-8.8,137,1975,0.00,2.12,0.00,0.000,516,0.000,0.041,2110,571,3337,3250,3425,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2009,-1.35,-170.3,2109,571,3250,3425,178.4,-8.9,138,2017,0.00,2.05,0.00,0.000,1030,0.000,0.015,2101,2001,3337,3250,3425,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2315,-1.35,-170.3,2102,2001,3250,3422,206.9,-9.0,154,2321,0.00,2.03,0.00,0.000,260,0.000,0.032,2091,3364,3335,3250,3421,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2393,-1.35,-170.3,2091,3364,3250,3420,212.8,-8.9,157,2399,0.00,2.10,0.00,0.000,1030,0.000,0.027,2091,1967,3334,3249,3420,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2707,-1.35,-170.3,2091,1967,3250,3416,241.6,-9.0,173,2713,0.00,2.12,0.00,0.000,516,0.000,0.044,2101,577,3333,3250,3416,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2743,-1.35,-170.3,2100,576,3250,3416,243.9,-9.0,174,2749,0.00,2.03,0.00,0.000,1030,0.000,0.016,2092,1980,3333,3250,3416,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3059,-1.35,-170.3,2092,1981,3249,3412,273.5,-9.0,190,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1981,3331,3250,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3359,-1.35,-170.3,2092,1982,3248,3408,300.9,-9.2,205,3366,0.00,2.17,0.00,0.000,516,0.000,0.043,2101,577,3328,3248,3408,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3452,-1.35,-170.3,2100,578,3247,3408,308.9,-8.9,209,3458,0.00,2.03,0.00,0.000,1030,0.000,0.016,2092,1978,3328,3248,3408,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3774,-1.35,-170.3,2092,1979,3245,3405,337.7,-8.9,225,3779,0.00,2.08,0.00,0.000,260,0.000,0.034,2082,3368,3325,3245,3405,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3884,-1.35,-170.3,1280,3367,3216,3400,347.5,-9.0,230,3892,0.10,2.12,0.00,0.000,3078,0.157,0.029,2107,1971,3323,3243,3403,0,0,0,0,0,0,26.43,26.60,28.83
$GC,4207,-1.35,-170.3,2106,1971,3242,3402,376.5,-8.9,246,4213,0.00,2.15,0.00,0.000,516,0.000,0.047,2117,575,3321,3242,3401,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4274,-1.35,-170.3,1280,575,3214,3397,382.6,-9.0,249,4280,0.00,2.05,0.00,0.000,1030,0.000,0.017,2109,1977,3321,3242,3401,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,4476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4477,begin apogee
$GC,4482,-0.25,0.0,2106,2310,3241,3399,401.5,-9.2,259,4647,0.73,0.00,151.85,1.030,10246,0.107,0.000,2347,2311,2638,2591,2686,0,0,0,0,1,0,26.37,28.83,24.20
$STATE,4649,end apogee,CONTROL_FINISHED_OK
$STATE,4649,begin climb
$GC,4651,1.35,170.3,2347,2311,2591,2686,387.0,0.0,266,4823,0.98,2.22,161.88,0.858,10500,0.050,0.033,2701,3686,1934,1904,1964,0,0,0,0,0,0,25.16,24.93,24.27
$GC,4947,1.37,176.3,2700,3685,1902,1942,360.0,9.0,279,4953,0.00,2.17,0.00,0.000,1030,0.000,0.024,2710,2295,1922,1902,1942,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5262,1.42,197.7,2710,2295,1899,1939,331.1,8.5,295,5292,0.00,2.30,24.23,0.796,8708,0.000,0.044,2721,899,1826,1802,1851,0,0,0,0,0,0,28.83,25.82,25.13
$GC,5347,1.45,209.1,2721,899,1794,1843,324.9,8.8,298,5362,0.00,2.12,9.35,0.796,9222,0.000,0.017,2721,2307,1786,1761,1812,0,0,0,0,0,0,28.83,26.03,25.07
$GC,5681,1.45,211.0,2721,2307,1754,1800,293.1,9.2,315,5686,0.00,2.12,0.00,0.000,260,0.000,0.035,2721,3695,1777,1754,1800,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5820,1.45,211.0,2721,3695,1753,1800,281.1,9.3,321,5826,0.00,2.15,0.00,0.000,1030,0.000,0.026,2731,2291,1776,1753,1800,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6135,1.47,215.9,2730,2291,1753,1799,251.6,9.1,337,6146,0.00,2.22,3.17,0.480,8708,0.000,0.044,2741,899,1759,1734,1785,0,0,0,0,0,0,28.83,26.37,25.25
$GC,6258,1.47,218.9,2741,899,1734,1789,241.9,9.2,342,6272,0.00,2.08,6.78,0.734,9222,0.000,0.018,2741,2299,1745,1716,1774,0,0,0,0,0,0,28.83,26.48,25.53
$GC,6591,1.48,222.6,2741,2299,1715,1771,210.8,9.1,359,6602,0.00,2.17,3.62,0.566,8452,0.000,0.037,2741,3687,1731,1702,1761,0,0,0,0,0,0,28.83,26.39,25.32
$GC,6673,1.49,224.3,2741,3687,1702,1760,204.4,9.2,362,6682,0.12,2.12,0.00,0.000,5126,0.193,0.028,2723,2295,1731,1701,1761,0,0,0,0,0,0,26.15,26.41,28.83
$GC,6980,1.51,232.6,2722,2295,1702,1761,175.8,9.0,378,7003,0.00,2.25,12.77,0.687,8708,0.000,0.044,2733,900,1685,1652,1719,0,0,0,0,0,0,28.83,26.29,25.62
$GC,7047,1.52,238.5,2733,900,1652,1716,169.7,9.0,381,7060,0.00,2.08,4.75,0.643,9222,0.000,0.018,2733,2296,1664,1627,1701,0,0,0,0,0,0,28.83,26.38,25.34
$GC,7375,1.54,246.6,2733,2296,1627,1701,140.1,9.0,397,7392,0.00,2.17,9.93,0.662,8452,0.000,0.037,2733,3699,1628,1583,1674,0,0,0,0,0,0,28.83,26.28,25.58
$GC,7405,1.57,257.2,2733,3699,1581,1674,137.7,8.9,398,7424,0.00,2.15,11.25,0.647,9222,0.000,0.028,2743,2301,1586,1536,1637,0,0,0,0,0,0,28.83,26.29,25.51
$GC,7722,1.59,266.7,2742,2301,1535,1630,108.8,8.9,414,7739,0.00,2.22,9.93,0.628,8708,0.000,0.043,2753,885,1547,1496,1598,0,0,0,0,0,0,28.83,26.20,25.55
$GC,7845,1.61,271.1,2753,885,1496,1594,99.1,9.1,419,7854,0.00,2.12,3.22,0.448,9222,0.000,0.018,2753,2307,1532,1482,1583,0,0,0,0,0,0,28.83,26.34,25.29
$GC,8151,1.65,290.7,2753,2307,1482,1584,70.2,8.5,435,8180,0.00,2.15,22.75,0.568,8452,0.000,0.036,2753,3696,1448,1400,1497,0,0,0,0,0,0,28.83,26.15,25.56
$GC,8257,1.67,297.3,2753,3696,1399,1490,61.9,9.0,439,8267,0.00,2.15,4.15,0.511,9222,0.000,0.028,2763,2302,1427,1383,1472,0,0,0,0,0,0,28.83,26.22,25.29
$GC,8564,1.67,297.3,2763,2302,1384,1473,32.9,9.5,464,8570,0.00,2.20,0.00,0.000,516,0.000,0.044,2774,894,1428,1384,1473,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8658,1.68,302.2,2774,894,1384,1473,24.4,9.1,472,8673,0.00,2.10,7.62,0.539,9222,0.000,0.018,2774,2306,1404,1364,1445,0,0,0,0,0,0,28.83,26.44,25.65
$STATE,8898,end climb,SURFACE_DEPTH_REACHED
$STATE,8898,begin surface coast
$FINISH,0.0,1.024058
$STATE,8932,end surface coast,CONTROL_FINISHED_OK
$STATE,8932,begin surface
$SM_CCo,8951,193.07,0.672,1,0,399,549.47
$SM_CCo,9152,-0.22,0.000,0,0,401,549.47
$SM_CCo,9156,0.88,0.093,0,0,401,549.47
$SM_GC,-23.93,7.50,0.55,0.88,0.070,0.035,0.093,86,1952,401,-10.54,0.82,549.47,0,0,0,0,0,0,26.41,26.45,25.20
$IRIDIUM_FIX,2059.45,12002.75,280313,070750
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.50
$INTERNAL_PRESSURE,9.17526
$TCM_TEMP,20.40
$XPDR_PINGS,0
$SC_FREEKB,3939584
$24V_AH,24.2,36.501
$10V_AH,10.2,19.231
$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,17.400,77.925,447.250,193.950,0.000,0.000,0.000,392.675,0.000,0.000,21.254,2070.781,4683.691,754.195,1774.776,428.817,0.000,2027.148,0.000,1432.270,0.000,2.566,0.000
$DEVICE_MAMPS,215.730,46.665,1030.455,672.435,0.000,0.000,0.000,126.225,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8931.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.514,0.000,0.000,0.000
$MEM,324600
$DATA_FILE_SIZE,20091,521
$CAP_FILE_SIZE,433143,2149
$CFSIZE,260034560,225886208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.183, 45.4,1
$GPS,280313,100353,2108.271,12004.744,38,0.7,38,-2.9