version: 66.11
glider: 121
mission: 10
dive: 254
start: 4 1 113 9 24 8
data:
$ID,121
$MISSION,10
$DIVE,254
$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,-100817.64
$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,48
$R_STBD_OVSHOOT,57
$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
$GPS1,010413,091604,2153.513,12024.732,194,0.9,194,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.0
$GPS2,010413,092341,2153.382,12024.812,20,0.8,20,-3.1
$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,32.5,31071,-18.5,-9.259,-21.12,2828
$D_GRID,962
$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,19,-1.35,-170.3,85,1947,344,472,0.0,0.0,0,44,0.00,0.00,-23.42,0.000,16386,0.000,0.000,85,1947,1022,1012,1032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,86,1947,1012,1034,3.5,-9.2,3,154,7.93,2.17,-90.38,0.000,18948,0.213,0.051,2112,567,3335,3243,3428,0,0,0,0,0,0,25.72,26.13,26.48
$GC,207,-1.35,-170.3,1248,567,3218,3425,18.5,-9.3,26,215,0.00,2.08,0.00,0.000,1030,0.000,0.015,2103,1990,3337,3246,3428,0,0,0,0,0,0,28.83,26.27,28.83
$GC,526,-1.35,-170.3,2103,1990,3248,3428,47.6,-9.0,63,532,0.00,2.05,0.00,0.000,260,0.000,0.031,2093,3363,3338,3248,3428,0,0,0,0,0,0,28.83,26.36,28.83
$GC,638,-1.35,-170.3,1248,3361,3221,3425,57.0,-8.7,70,644,0.00,2.08,0.00,0.000,1030,0.000,0.025,2095,1977,3338,3248,3428,0,0,0,0,0,0,28.83,26.42,28.83
$GC,958,-1.35,-170.3,2095,1976,3252,3428,86.9,-9.3,86,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,1976,3340,3252,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1259,-1.35,-170.3,2095,1976,3253,3428,113.7,-8.9,101,1266,0.00,2.12,0.00,0.000,516,0.000,0.040,2106,572,3340,3252,3428,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1401,-1.35,-170.3,2105,572,3252,3428,125.8,-9.1,107,1406,0.00,2.00,0.00,0.000,1030,0.000,0.015,2098,1975,3340,3252,3428,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1715,-1.35,-170.3,2097,1976,3252,3428,154.9,-9.2,123,1721,0.00,2.05,0.00,0.000,260,0.000,0.031,2087,3362,3340,3252,3428,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1803,-1.35,-170.3,1248,3360,3225,3423,162.8,-9.0,127,1809,0.00,2.08,0.00,0.000,1030,0.000,0.025,2089,1970,3339,3252,3427,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2128,-1.35,-170.3,2089,1969,3252,3426,192.0,-9.2,143,2134,0.00,2.12,0.00,0.000,516,0.000,0.041,2099,572,3338,3252,3425,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2185,-1.35,-170.3,2099,572,3252,3425,196.2,-9.0,145,2192,0.00,2.03,0.00,0.000,1030,0.000,0.016,2091,1983,3338,3252,3425,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2501,-1.35,-170.3,2090,1984,3252,3421,225.5,-8.7,161,2507,0.00,2.17,0.00,0.000,516,0.000,0.040,2099,572,3336,3252,3421,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2531,-1.35,-170.3,2098,573,3252,3421,227.7,-8.8,162,2537,0.00,2.03,0.00,0.000,1030,0.000,0.015,2091,1980,3336,3252,3421,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2851,-1.35,-170.3,2090,1980,3252,3417,257.1,-8.9,178,2857,0.00,2.05,0.00,0.000,260,0.000,0.032,2080,3357,3334,3252,3417,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2987,-1.35,-170.3,2080,3358,3252,3416,268.9,-9.0,184,2994,0.10,2.10,0.00,0.000,3078,0.158,0.028,2107,1966,3333,3252,3415,0,0,0,0,0,0,26.36,26.56,28.83
$GC,3308,-1.35,-170.3,2107,1966,3251,3412,298.1,-8.7,200,3314,0.00,2.12,0.00,0.000,516,0.000,0.044,2118,576,3331,3252,3411,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3418,-1.35,-170.3,2117,576,3251,3411,308.0,-9.0,205,3424,0.00,2.03,0.00,0.000,1030,0.000,0.016,2109,1971,3332,3253,3411,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3744,-1.35,-170.3,2109,1971,3249,3408,337.3,-8.5,221,3750,0.00,2.08,0.00,0.000,260,0.000,0.034,2099,3358,3328,3249,3408,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3836,-1.35,-170.3,1288,3356,3223,3404,345.3,-9.1,225,3842,0.00,2.10,0.00,0.000,1030,0.000,0.029,2099,1970,3327,3248,3407,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4156,-1.35,-170.3,2099,1969,3246,3405,374.7,-9.2,241,4162,0.00,2.15,0.00,0.000,516,0.000,0.046,2108,575,3325,3246,3405,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4240,-1.35,-170.3,2108,575,3245,3404,381.2,-9.3,244,4249,0.00,2.03,0.00,0.000,1030,0.000,0.017,2100,1972,3324,3245,3404,0,0,0,0,0,0,28.83,26.62,28.83
$STATE,4444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4444,begin apogee
$GC,4450,-0.25,0.0,2097,2307,3243,3402,400.9,-8.9,255,4615,0.75,0.00,152.23,1.009,10246,0.110,0.000,2344,2307,2638,2590,2686,0,0,0,0,1,0,26.22,28.83,24.20
$STATE,4618,end apogee,CONTROL_FINISHED_OK
$STATE,4618,begin climb
$GC,4620,1.35,170.3,2343,2307,2591,2686,386.1,0.0,262,4793,1.00,2.30,158.75,0.863,10500,0.053,0.034,2705,3689,1931,1902,1961,0,0,0,0,0,0,25.17,24.94,24.26
$GC,4987,1.37,177.1,2705,3688,1902,1943,353.3,9.0,278,4996,0.00,2.15,0.00,0.000,1030,0.000,0.024,2715,2301,1922,1902,1943,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5292,1.43,201.9,2714,2301,1903,1940,324.6,8.4,294,5328,0.00,2.33,28.62,0.779,8708,0.000,0.043,2725,890,1808,1783,1834,0,0,0,0,0,0,28.83,25.82,25.13
$GC,5413,1.45,210.8,1768,890,1734,1815,314.5,8.9,299,5426,0.00,2.12,2.67,0.346,9222,0.000,0.017,2725,2305,1778,1751,1806,0,0,0,0,0,0,28.83,26.08,24.87
$GC,5726,1.47,218.3,2725,2305,1751,1814,285.6,9.0,315,5749,0.00,2.20,12.85,0.759,8452,0.000,0.035,2726,3692,1741,1710,1772,0,0,0,0,0,0,28.83,26.11,25.37
$GC,5842,1.48,219.9,2725,3692,1710,1767,275.4,9.2,320,5848,0.00,2.15,0.00,0.000,1030,0.000,0.026,2736,2296,1738,1710,1767,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6162,1.49,225.9,2736,2296,1709,1764,245.5,9.0,336,6173,0.00,2.20,4.43,0.631,8708,0.000,0.044,2746,897,1718,1688,1749,0,0,0,0,0,0,28.83,26.29,25.26
$GC,6253,1.50,229.2,1792,897,1651,1743,237.5,9.1,340,6265,0.00,2.10,4.93,0.679,9222,0.000,0.018,2747,2307,1704,1672,1736,0,0,0,0,0,0,28.83,26.39,25.26
$GC,6576,1.52,235.6,2746,2308,1672,1736,207.9,9.0,356,6591,0.00,2.15,9.15,0.702,8452,0.000,0.037,2746,3698,1674,1639,1710,0,0,0,0,0,0,28.83,26.28,25.53
$GC,6700,1.53,240.2,2746,3698,1638,1707,197.9,9.1,361,6710,0.10,2.15,3.53,0.528,13318,0.197,0.028,2735,2298,1659,1618,1701,0,0,0,0,0,0,26.08,26.32,25.21
$GC,7007,1.58,260.3,2735,2298,1618,1701,168.9,8.5,377,7036,0.00,2.22,22.80,0.650,8708,0.000,0.044,2745,889,1572,1521,1623,0,0,0,0,0,0,28.83,26.10,25.47
$GC,7113,1.59,265.8,2745,890,1521,1618,160.7,9.1,381,7122,0.00,2.12,3.83,0.534,9222,0.000,0.018,2746,2309,1555,1504,1606,0,0,0,0,0,0,28.83,26.24,25.13
$GC,7420,1.62,277.4,2745,2309,1504,1606,131.5,8.8,397,7443,0.00,2.15,14.62,0.620,8452,0.000,0.035,2745,3694,1503,1450,1556,0,0,0,0,0,0,28.83,26.17,25.51
$GC,7503,1.62,278.3,1736,3693,1422,1547,125.2,9.2,400,7511,0.00,2.15,0.00,0.000,1030,0.000,0.028,2755,2302,1500,1449,1552,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7808,1.64,283.5,2755,2302,1449,1550,96.4,9.1,416,7819,0.00,2.22,4.40,0.545,8708,0.000,0.044,2765,887,1483,1433,1534,0,0,0,0,0,0,28.83,26.29,25.34
$GC,7877,1.65,290.0,2765,887,1433,1534,90.4,9.0,419,7893,0.00,2.10,9.55,0.588,9222,0.000,0.018,2765,2301,1453,1403,1503,0,0,0,0,0,0,28.83,26.39,25.56
$GC,8203,1.68,302.8,2765,2301,1402,1496,61.1,8.8,435,8226,0.00,2.25,13.32,0.550,8708,0.000,0.041,2776,892,1398,1355,1441,0,0,0,0,0,0,28.83,26.22,25.61
$GC,8335,1.71,311.8,2775,892,1355,1438,49.1,8.9,441,8349,0.00,2.10,8.98,0.545,9222,0.000,0.017,2776,2300,1368,1329,1407,0,0,0,0,0,0,28.83,26.36,25.56
$GC,8655,1.72,317.5,1744,2298,1303,1390,20.6,9.1,476,8664,0.00,2.20,4.45,0.484,8452,0.000,0.036,2776,3691,1344,1313,1375,0,0,0,0,0,0,28.83,26.33,25.40
$GC,8803,1.77,335.2,1728,3690,1289,1371,7.5,8.6,502,8828,0.00,2.12,19.30,0.484,9222,0.000,0.026,2785,2294,1273,1255,1291,0,0,0,0,0,0,28.83,26.38,25.63
$STATE,8857,end climb,SURFACE_DEPTH_REACHED
$STATE,8857,begin surface coast
$FINISH,0.0,1.023491
$STATE,8891,end surface coast,CONTROL_FINISHED_OK
$STATE,8893,begin surface
$SM_CCo,8911,165.60,0.654,1,0,399,549.47
$SM_CCo,9084,-0.17,0.000,0,0,402,549.23
$SM_CCo,9088,1.10,0.096,0,0,399,549.47
$SM_GC,-23.93,7.55,0.47,1.10,0.067,0.043,0.096,85,1968,399,-10.56,1.27,549.47,0,0,0,0,0,0,26.24,26.28,25.22
$IRIDIUM_FIX,2143.45,12025.58,010413,060607
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.22
$INTERNAL_PRESSURE,9.22409
$TCM_TEMP,21.00
$XPDR_PINGS,0
$SC_FREEKB,3925888
$24V_AH,24.2,42.055
$10V_AH,10.1,21.568
$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,17.425,86.050,478.400,166.700,0.000,0.000,0.000,255.750,0.000,0.000,20.683,2126.768,4464.251,763.749,1706.791,459.352,0.000,1984.662,0.000,1494.250,0.000,1.486,0.000
$DEVICE_MAMPS,212.670,51.255,1009.035,654.075,0.000,0.000,0.000,131.580,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8905.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.485,0.000,0.000,0.000
$MEM,324428
$DATA_FILE_SIZE,16784,516
$CAP_FILE_SIZE,421824,2258
$CFSIZE,260034560,221790208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.152, 61.6,1
$GPS,010413,115648,2154.507,12025.953,30,1.4,30,-3.1