version: 66.11
glider: 121
mission: 10
dive: 256
start: 4 1 113 14 48 8
data:
$ID,121
$MISSION,10
$DIVE,256
$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,-100820.15
$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,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
$GPS1,010413,144004,2155.687,12026.404,64,0.8,64,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.4
$GPS2,010413,144741,2155.532,12026.329,15,1.4,15,-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,44.4,26316,-18.5,-9.259,-21.12,2828
$D_GRID,834
$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,-170.3,85,1952,357,487,0.0,0.0,0,43,0.00,0.00,-22.90,0.000,16386,0.000,0.000,84,1953,1028,1016,1041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,85,1952,1016,1042,3.2,-9.3,3,152,7.95,2.17,-88.97,0.000,18948,0.213,0.050,2109,572,3336,3244,3428,0,0,0,0,0,0,25.67,26.10,26.46
$GC,195,-1.35,-170.3,2109,573,3246,3428,17.0,-9.2,24,203,0.00,2.08,0.00,0.000,1030,0.000,0.015,2101,1991,3337,3246,3428,0,0,0,0,0,0,28.83,26.25,28.83
$GC,517,-1.35,-170.3,2100,1992,3248,3427,46.3,-9.1,63,523,0.00,2.20,0.00,0.000,516,0.000,0.038,2109,574,3338,3248,3428,0,0,0,0,0,0,28.83,26.32,28.83
$GC,572,-1.35,-170.3,1296,573,3224,3425,50.6,-9.1,67,579,0.00,2.03,0.00,0.000,1030,0.000,0.015,2101,1979,3338,3248,3428,0,0,0,0,0,0,28.83,26.44,28.83
$GC,888,-1.35,-170.3,2100,1980,3252,3426,79.6,-9.1,83,894,0.00,2.05,0.00,0.000,260,0.000,0.031,2090,3352,3339,3252,3427,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1000,-1.35,-170.3,2090,3353,3252,3427,89.8,-9.2,88,1006,0.00,2.08,0.00,0.000,1030,0.000,0.025,2093,1972,3339,3252,3427,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1325,-1.35,-170.3,2093,1972,3252,3427,119.7,-9.5,104,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1972,3339,3252,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1627,-1.35,-170.3,2092,1972,3252,3427,146.5,-8.9,119,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1972,3339,3252,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1928,-1.35,-170.3,2093,1972,3252,3426,172.7,-9.1,134,1934,0.00,2.15,0.00,0.000,516,0.000,0.041,2103,567,3338,3252,3425,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1998,-1.35,-170.3,2103,567,3252,3426,179.1,-9.1,137,2004,0.00,2.03,0.00,0.000,1030,0.000,0.016,2095,1973,3338,3252,3425,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2319,-1.35,-170.3,2095,1974,3252,3422,208.4,-9.2,153,2324,0.00,2.08,0.00,0.000,260,0.000,0.032,2085,3360,3336,3252,3421,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2417,-1.35,-170.3,2084,3360,3252,3420,216.6,-9.2,157,2423,0.00,2.08,0.00,0.000,1030,0.000,0.027,2086,1979,3336,3252,3420,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2732,-1.35,-170.3,2086,1979,3252,3417,246.3,-9.1,173,2738,0.00,2.10,0.00,0.000,260,0.000,0.031,2077,3356,3334,3252,3417,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2816,-1.35,-170.3,2077,3356,3252,3416,252.6,-9.1,176,2825,0.10,2.10,0.00,0.000,3078,0.161,0.028,2106,1965,3334,3252,3416,0,0,0,0,0,0,26.34,26.55,28.83
$GC,3121,-1.35,-170.3,2105,1964,3252,3413,281.2,-9.0,192,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,1964,3332,3252,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3423,-1.35,-170.3,2105,1964,3250,3409,308.5,-9.4,207,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1964,3329,3250,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3724,-1.35,-170.3,2105,1964,3248,3407,335.5,-9.0,222,3730,0.00,2.12,0.00,0.000,260,0.000,0.033,2097,3353,3327,3248,3406,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3839,-1.35,-170.3,2097,3353,3247,3406,345.6,-9.0,227,3845,0.00,2.10,0.00,0.000,1030,0.000,0.029,2105,1972,3326,3247,3406,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4159,-1.35,-170.3,2104,1972,3244,3404,373.7,-8.6,243,4166,0.00,2.17,0.00,0.000,516,0.000,0.046,2115,570,3324,3244,3404,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4217,-1.35,-170.3,2114,569,3244,3404,378.1,-8.7,245,4223,0.00,2.05,0.00,0.000,1030,0.000,0.017,2107,1975,3323,3243,3403,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,4469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4469,begin apogee
$GC,4475,-0.25,0.0,2104,2310,3242,3402,401.6,-9.0,258,4629,0.73,0.00,141.68,1.024,10246,0.112,0.000,2342,2310,2640,2591,2689,0,0,0,0,1,0,26.19,28.83,24.20
$STATE,4630,end apogee,CONTROL_FINISHED_OK
$STATE,4630,begin climb
$GC,4633,1.35,170.3,2342,2310,2591,2688,389.2,0.0,264,4796,1.00,2.40,148.43,1.070,10756,0.050,0.042,2716,904,1943,1911,1976,0,0,0,0,1,0,25.15,24.69,23.89
$GC,4975,1.38,181.2,2715,904,1911,1977,357.0,8.9,282,4998,0.00,2.12,13.30,0.825,9222,0.000,0.017,2716,2300,1895,1869,1922,0,0,0,0,0,0,28.83,25.84,24.81
$GC,5292,1.45,207.9,2715,2301,1869,1912,328.3,8.3,298,5328,0.00,2.28,25.70,0.809,8708,0.000,0.042,2725,901,1786,1759,1813,0,0,0,0,0,0,28.83,25.77,25.07
$GC,5362,1.47,215.7,2725,901,1759,1810,322.1,9.0,301,5374,0.00,2.12,7.90,0.783,9222,0.000,0.017,2725,2299,1760,1732,1788,0,0,0,0,0,0,28.83,25.94,25.02
$GC,5688,1.50,230.5,2725,2300,1726,1777,293.3,8.7,317,5712,0.00,2.17,14.62,0.780,8452,0.000,0.036,2725,3692,1695,1662,1729,0,0,0,0,0,0,28.83,26.01,25.26
$GC,5749,1.53,241.6,2725,3692,1660,1726,289.0,8.9,319,5768,0.00,2.15,11.10,0.773,9222,0.000,0.027,2735,2305,1650,1605,1695,0,0,0,0,0,0,28.83,26.06,25.13
$GC,6085,1.61,271.5,2735,2305,1601,1688,258.3,8.2,336,6124,0.00,2.30,29.77,0.741,8708,0.000,0.044,2746,905,1528,1476,1580,0,0,0,0,0,0,28.83,25.83,25.17
$GC,6164,1.64,286.4,2745,904,1475,1575,251.7,8.7,339,6188,0.00,2.12,15.65,0.737,9222,0.000,0.018,2746,2307,1466,1416,1516,0,0,0,0,0,0,28.83,26.00,25.06
$GC,6504,1.66,292.6,2746,2306,1414,1506,219.8,9.0,356,6516,0.00,2.20,3.72,0.550,8452,0.000,0.036,2745,3691,1446,1400,1493,0,0,0,0,0,0,28.83,26.17,25.10
$GC,6587,1.67,296.8,2745,3691,1400,1494,213.5,9.1,359,6602,0.00,2.15,6.65,0.687,9222,0.000,0.028,2755,2300,1428,1384,1473,0,0,0,0,0,0,28.83,26.22,25.32
$GC,6924,1.68,300.5,2755,2299,1384,1468,181.7,9.1,376,6936,0.00,2.28,3.45,0.502,8708,0.000,0.045,2766,888,1415,1374,1456,0,0,0,0,0,0,28.83,26.27,25.18
$GC,6996,1.68,302.3,2766,887,1374,1458,175.2,9.2,379,7008,0.00,2.10,3.33,0.486,9222,0.000,0.018,2766,2298,1407,1366,1448,0,0,0,0,0,0,28.83,26.36,25.18
$GC,7317,1.69,304.5,2766,2298,1366,1450,145.5,9.2,395,7329,0.00,2.25,4.10,0.549,8708,0.000,0.043,2776,883,1396,1359,1433,0,0,0,0,0,0,28.83,26.32,25.28
$GC,7385,1.71,312.8,2775,883,1359,1435,139.5,9.0,398,7402,0.00,2.12,11.27,0.615,9222,0.000,0.018,2776,2310,1363,1325,1401,0,0,0,0,0,0,28.83,26.41,25.55
$GC,7712,1.71,315.0,2776,2311,1322,1390,109.6,9.2,414,7718,0.00,2.12,0.00,0.000,260,0.000,0.037,2776,3701,1357,1324,1390,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7738,1.72,317.1,2776,3701,1322,1390,107.2,9.2,415,7749,0.00,2.15,3.78,0.491,9222,0.000,0.029,2786,2301,1343,1315,1372,0,0,0,0,0,0,28.83,26.36,25.30
$GC,8064,1.75,329.6,2786,2301,1315,1374,77.9,8.8,431,8087,0.00,2.20,14.90,0.540,8708,0.000,0.044,2796,896,1290,1270,1310,0,0,0,0,0,0,28.83,26.25,25.65
$GC,8225,1.77,335.8,2796,896,1270,1307,64.5,9.0,438,8238,0.00,2.10,4.35,0.496,9222,0.000,0.018,2794,2307,1270,1253,1287,0,0,0,0,0,0,28.83,26.39,25.34
$GC,8537,1.80,347.6,2793,2306,1253,1288,35.9,8.8,461,8557,0.00,2.33,13.82,0.487,8708,0.000,0.041,2803,887,1217,1206,1228,0,0,0,0,0,0,28.83,26.25,25.66
$GC,8592,1.82,356.2,2803,887,1207,1225,31.3,8.9,465,8607,0.00,2.10,8.32,0.495,9222,0.000,0.018,2803,2302,1184,1178,1191,0,0,0,0,0,0,28.83,26.34,25.58
$STATE,8907,end climb,SURFACE_DEPTH_REACHED
$STATE,8907,begin surface coast
$FINISH,0.0,1.022147
$STATE,8940,end surface coast,CONTROL_FINISHED_OK
$STATE,8940,begin surface
$SM_CCo,8958,117.70,0.457,1,0,398,549.47
$SM_CCo,9084,-0.35,0.000,0,0,400,549.47
$SM_CCo,9088,0.00,0.000,0,0,400,549.47
$SM_GC,-23.93,7.50,0.52,0.00,0.063,0.035,0.000,86,1962,400,-10.56,1.16,549.47,0,0,0,0,0,0,26.36,26.41,28.83
$IRIDIUM_FIX,2143.45,12025.58,010413,121256
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.42
$INTERNAL_PRESSURE,9.26316
$TCM_TEMP,21.90
$XPDR_PINGS,0
$SC_FREEKB,3925120
$24V_AH,23.9,42.347
$10V_AH,10.1,21.696
$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,17.275,78.325,485.850,117.700,0.000,0.000,0.000,260.000,0.000,0.000,15.706,2036.341,4702.499,716.766,1624.400,439.236,0.000,1894.404,0.000,1412.327,0.000,1.485,0.000
$DEVICE_MAMPS,213.435,50.490,1070.235,457.470,0.000,0.000,0.000,129.285,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8961.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.515,0.000,0.000,0.000
$MEM,324452
$DATA_FILE_SIZE,20071,522
$CAP_FILE_SIZE,401217,2090
$CFSIZE,260034560,221577216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.069,  2.0,1
$GPS,010413,172035,2156.461,12027.029,18,0.9,18,-3.1