version: 66.11
glider: 121
mission: 10
dive: 22
start: 2 28 113 13 58 2
data:
$ID,121
$MISSION,10
$DIVE,22
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,20
$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,360
$T_MISSION,420
$T_ABORT,1440
$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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-81304.07
$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,2370
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,38
$R_STBD_OVSHOOT,83
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3600
$C_VBD,2795
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$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
$GPS1,280213,135034,2125.422,12005.975,25,0.9,25,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-64.7
$GPS2,280213,135735,2125.455,12005.956,13,1.3,13,-3.0
$SPEED_LIMITS,0.159,0.239
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,180.1,269584,-18.4,-9.167,-20.99,2856
$D_GRID,2830
$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,17,-1.11,-170.3,90,1985,1042,1043,0.0,0.0,0,73,0.00,0.00,-53.70,0.000,16386,0.000,0.000,91,1985,2456,2377,2536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.11,-170.3,90,1985,2377,2538,3.2,-4.4,7,115,8.60,2.20,-21.02,0.000,18948,0.249,0.052,2133,564,3492,3419,3566,0,0,0,0,0,0,25.94,26.15,26.42
$GC,209,-1.11,-170.3,2132,564,3421,3568,28.1,-19.1,29,215,0.00,2.03,0.00,0.000,1030,0.000,0.017,2125,1973,3495,3421,3569,0,0,0,0,0,0,28.83,26.31,28.83
$GC,532,-1.11,-170.3,2125,1974,3424,3569,79.6,-13.7,51,539,0.00,2.03,0.00,0.000,260,0.000,0.029,2115,3349,3496,3424,3569,0,0,0,0,0,0,28.83,26.44,28.83
$GC,591,-1.11,-170.3,2114,3349,3424,3569,85.1,-12.9,53,599,0.00,2.05,0.00,0.000,1030,0.000,0.025,2122,1965,3496,3424,3569,0,0,0,0,0,0,28.83,26.47,28.83
$GC,898,-1.11,-170.3,2122,1965,3426,3570,125.0,-12.3,69,904,0.00,2.12,0.00,0.000,516,0.000,0.042,2132,567,3498,3427,3570,0,0,0,0,0,0,28.83,26.55,28.83
$GC,993,-1.11,-170.3,2131,567,3427,3570,136.4,-13.4,73,998,0.00,2.00,0.00,0.000,1030,0.000,0.018,2124,1976,3498,3427,3570,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1306,-1.11,-170.3,2123,1976,3427,3570,177.8,-12.4,89,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,1976,3498,3427,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1606,-1.11,-170.3,2123,1977,3427,3570,210.9,-10.6,104,1612,0.00,2.15,0.00,0.000,516,0.000,0.041,2131,575,3498,3427,3570,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1693,-1.11,-170.3,2131,575,3427,3570,219.6,-10.2,108,1699,0.00,1.98,0.00,0.000,1030,0.000,0.017,2123,1982,3499,3427,3571,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2017,-1.11,-170.3,2123,1982,3426,3570,251.8,-10.2,124,2023,0.00,1.98,0.00,0.000,260,0.000,0.030,2113,3340,3498,3427,3570,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2142,-1.11,-170.3,2112,3341,3426,3569,265.1,-10.7,130,2148,0.00,2.03,0.00,0.000,1030,0.000,0.025,2116,1971,3498,3426,3570,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2466,-1.11,-170.3,2116,1971,3425,3567,301.1,-11.3,146,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,1971,3495,3424,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2766,-1.11,-170.3,2115,1970,3423,3565,334.9,-11.3,161,2772,0.00,2.10,0.00,0.000,516,0.000,0.044,2125,576,3493,3423,3564,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2864,-1.11,-170.3,2125,576,3423,3564,344.6,-11.6,165,2872,0.00,1.98,0.00,0.000,1030,0.000,0.017,2116,1981,3493,3422,3564,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3171,-1.11,-170.3,2116,1980,3420,3562,378.9,-10.3,181,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,1980,3491,3420,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3470,-1.11,-170.3,2116,1981,3418,3559,408.2,-9.7,196,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,1981,3489,3418,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3770,-1.11,-170.3,2116,1982,3416,3559,436.3,-9.2,211,3776,0.00,2.00,0.00,0.000,260,0.000,0.031,2106,3348,3486,3416,3557,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3794,-1.11,-170.3,2106,3348,3415,3557,438.3,-9.1,212,3800,0.10,2.03,0.00,0.000,3078,0.158,0.026,2134,1969,3486,3416,3557,0,0,0,0,0,0,26.71,26.82,28.83
$GC,4119,-1.11,-170.3,2132,1969,3414,3555,464.5,-8.1,228,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,1969,3484,3414,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4419,-1.11,-170.3,2132,1969,3412,3554,489.4,-8.5,243,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,1969,3483,3412,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4718,-1.11,-170.3,2132,1969,3410,3551,517.1,-9.6,258,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,1969,3480,3410,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5018,-1.11,-170.3,2132,1969,3408,3549,546.3,-9.7,273,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,1969,3478,3408,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5318,-1.11,-170.3,2132,1969,3406,3547,574.3,-9.1,288,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,1969,3477,3407,3547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5618,-1.11,-170.3,2132,1969,3404,3545,600.4,-8.5,303,5624,0.00,2.05,0.00,0.000,260,0.000,0.031,2125,3338,3474,3404,3545,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5671,-1.11,-170.3,2124,3338,3403,3545,603.2,-8.3,304,5677,0.00,2.03,0.00,0.000,1030,0.000,0.027,2126,1972,3474,3404,3545,0,0,0,0,0,0,28.83,26.84,28.83
$GC,5985,-1.11,-170.3,2125,1972,3402,3543,630.6,-8.1,315,5991,0.00,2.12,0.00,0.000,516,0.000,0.047,2126,575,3472,3402,3543,0,0,0,0,0,0,28.83,26.81,28.83
$GC,6020,-1.11,-170.3,2126,575,3402,3543,633.6,-8.3,316,6026,0.00,2.00,0.00,0.000,1030,0.000,0.018,2118,1975,3472,3402,3543,0,0,0,0,0,0,28.83,26.88,28.83
$GC,6355,-1.11,-170.3,2118,1976,3399,3541,662.7,-8.9,327,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,1976,3470,3399,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6654,-1.11,-170.3,2117,1983,3397,3540,689.9,-9.4,337,6660,0.00,2.17,0.00,0.000,516,0.000,0.047,2126,571,3469,3398,3540,0,0,0,0,0,0,28.83,26.79,28.83
$GC,6701,-1.11,-170.3,1344,571,3381,3537,693.2,-9.6,338,6707,0.00,2.00,0.00,0.000,1030,0.000,0.018,2118,1974,3468,3397,3540,0,0,0,0,0,0,28.83,26.87,28.83
$GC,7020,-1.11,-170.3,2117,1974,3395,3539,725.7,-9.8,349,7026,0.00,2.03,0.00,0.000,260,0.000,0.033,2108,3349,3467,3395,3539,0,0,0,0,0,0,28.83,26.82,28.83
$GC,7104,-1.11,-170.3,2107,3349,3394,3539,732.0,-9.9,351,7110,0.00,2.05,0.00,0.000,1030,0.000,0.028,2110,1967,3466,3394,3539,0,0,0,0,0,0,28.83,26.84,28.83
$GC,7418,-1.11,-170.3,2110,1968,3393,3538,764.7,-9.6,362,7424,0.00,2.12,0.00,0.000,516,0.000,0.048,2116,575,3465,3393,3537,0,0,0,0,0,0,28.83,26.82,28.83
$GC,7496,-1.11,-170.3,2116,576,3393,3537,771.0,-9.7,364,7503,0.00,2.00,0.00,0.000,1030,0.000,0.018,2107,1979,3464,3392,3537,0,0,0,0,0,0,28.83,26.87,28.83
$GC,7816,-1.11,-170.3,2107,1979,3390,3536,802.2,-9.2,375,7823,0.10,2.03,0.00,0.000,2308,0.178,0.032,2123,3349,3463,3390,3536,0,0,0,0,0,0,26.74,26.82,28.83
$GC,7885,-1.11,-170.3,2123,3349,3390,3535,807.6,-8.7,377,7891,0.00,2.05,0.00,0.000,1030,0.000,0.028,2125,1968,3463,3390,3536,0,0,0,0,0,0,28.83,26.84,28.83
$GC,8214,-1.11,-170.3,2125,1968,3389,3534,836.1,-8.9,388,8220,0.00,2.10,0.00,0.000,260,0.000,0.034,2117,3362,3461,3389,3534,0,0,0,0,0,0,28.83,26.82,28.83
$GC,8251,-1.11,-170.3,2116,3362,3389,3534,839.3,-9.0,389,8258,0.00,2.08,0.00,0.000,1030,0.000,0.028,2117,1968,3461,3388,3534,0,0,0,0,0,0,28.83,26.84,28.83
$GC,8580,-1.11,-170.3,2117,1968,3387,3533,871.8,-9.8,400,8581,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,1968,3460,3387,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8881,-1.11,-170.3,2117,1968,3386,3531,899.4,-9.0,410,8887,0.00,2.10,0.00,0.000,260,0.000,0.034,2109,3358,3458,3386,3531,0,0,0,0,0,0,28.83,26.82,28.83
$GC,8915,-1.11,-170.3,2111,3358,3386,3531,902.4,-8.9,411,8921,0.00,2.08,0.00,0.000,1030,0.000,0.028,2114,1972,3458,3386,3531,0,0,0,0,0,0,28.83,26.83,28.83
$GC,9249,-1.11,-170.3,2114,1972,3385,3530,931.3,-8.5,422,9255,0.00,2.10,0.00,0.000,260,0.000,0.034,2106,3360,3457,3384,3530,0,0,0,0,0,0,28.83,26.82,28.83
$GC,9298,-1.11,-170.3,2106,3360,3384,3530,934.1,-8.4,423,9304,0.00,2.08,0.00,0.000,1030,0.000,0.029,2107,1968,3457,3384,3530,0,0,0,0,0,0,28.83,26.83,28.83
$GC,9617,-1.11,-170.3,2108,1968,3383,3529,962.1,-8.3,434,9623,0.00,2.15,0.00,0.000,516,0.000,0.050,2116,568,3456,3383,3529,0,0,0,0,0,0,28.83,26.80,28.83
$GC,9652,-1.11,-170.3,2115,569,3383,3529,965.0,-8.3,435,9658,0.00,2.03,0.00,0.000,1030,0.000,0.018,2107,1974,3456,3383,3529,0,0,0,0,0,0,28.83,26.86,28.83
$STATE,9954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9954,begin apogee
$GC,9958,-0.19,0.0,2105,2295,3382,3528,990.9,-8.6,445,10119,0.68,0.00,153.93,1.217,10246,0.120,0.000,2329,2295,2791,2749,2834,0,0,0,0,0,0,26.71,28.83,23.85
$STATE,10122,end apogee,CONTROL_FINISHED_OK
$STATE,10122,begin climb
$GC,10123,1.11,170.3,2328,2294,2749,2831,997.3,0.0,450,10297,0.85,2.33,161.70,1.215,10500,0.057,0.037,2626,3685,2093,2059,2127,0,0,0,0,0,0,24.82,24.51,23.68
$GC,10339,1.41,292.7,2626,3685,2057,2121,992.2,4.8,457,10469,0.15,2.20,117.68,1.194,11270,0.083,0.028,2690,2309,1594,1554,1635,0,0,0,0,0,0,25.11,25.13,23.62
$GC,10792,1.41,292.7,2690,2309,1548,1625,936.1,13.0,472,10798,0.00,2.28,0.00,0.000,516,0.000,0.048,2701,900,1586,1548,1625,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10876,1.41,292.7,2701,900,1548,1625,927.2,13.4,474,10883,0.10,2.10,0.00,0.000,5126,0.197,0.020,2681,2291,1586,1548,1625,0,0,0,0,0,0,25.79,25.96,28.83
$GC,11190,1.41,292.7,2681,2291,1547,1623,884.6,12.7,485,11196,0.00,2.17,0.00,0.000,260,0.000,0.040,2680,3690,1585,1547,1623,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11224,1.41,292.7,2680,3690,1547,1623,880.2,12.7,486,11230,0.00,2.15,0.00,0.000,1030,0.000,0.031,2690,2303,1584,1547,1622,0,0,0,0,0,0,28.83,26.19,28.83
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$STATE,19275,end climb,SURFACE_DEPTH_REACHED
$STATE,19276,begin surface coast
$FINISH,1.0,1.021663
$STATE,19303,end surface coast,CONTROL_FINISHED_OK
$STATE,19303,begin surface
$SM_CCo,19378,0.00,0.000,0,0,1035,431.73
$SM_GC,1.68,6.90,0.47,0.00,0.034,0.051,0.000,80,1974,1035,-10.42,1.36,431.73,0,0,0,0,0,0,26.48,26.48,28.83
$IRIDIUM_FIX,2117.95,12004.22,280213,070720
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.74
$INTERNAL_PRESSURE,9.31199
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,4010752
$24V_AH,23.6,4.327
$10V_AH,10.0,3.326
$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,18.275,160.350,541.750,0.000,0.000,0.000,0.000,254.925,0.000,0.000,14.358,3743.584,12614.818,720.176,2467.049,220.784,0.000,2166.962,0.000,2090.117,0.000,1.495,0.000
$DEVICE_MAMPS,249.390,52.020,1217.115,0.000,0.000,0.000,0.000,136.935,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19321.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.846,0.000,0.000,0.000
$MEM,324524
$DATA_FILE_SIZE,33406,898
$CAP_FILE_SIZE,468923,0
$CFSIZE,260034560,249077760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,276.9,1
$GPS,280213,192205,2122.951,12005.282,30,0.7,30,-3.0