version: 66.11
glider: 121
mission: 10
dive: 164
start: 3 22 113 5 22 8
data:
$ID,121
$MISSION,10
$DIVE,164
$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,-100700.86
$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,37
$R_STBD_OVSHOOT,66
$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
$GPS1,220313,051434,1955.652,12005.258,141,1.2,141,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-64.1
$GPS2,220313,052141,1955.754,12005.239,16,1.1,17,-2.6
$SPEED_LIMITS,0.160,0.240
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$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,354.4,202524,-18.5,-9.259,-21.12,2828
$D_GRID,3789
$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,-170.3,87,2010,351,483,0.0,0.0,0,44,0.00,0.00,-23.92,0.000,16386,0.000,0.000,87,2010,1043,1026,1060,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,87,2010,1026,1062,3.2,-8.9,3,146,7.97,2.12,-85.28,0.000,18692,0.220,0.044,2090,3361,3337,3245,3429,0,0,0,0,0,0,25.79,26.16,26.44
$GC,391,-1.35,-170.3,2090,3362,3248,3430,34.1,-9.0,51,400,0.00,2.10,0.00,0.000,1030,0.000,0.022,2098,1953,3338,3248,3429,0,0,0,0,0,0,28.83,26.36,28.83
$GC,710,-1.35,-170.3,2098,1953,3252,3429,62.7,-9.0,76,716,0.00,2.12,0.00,0.000,260,0.000,0.029,2090,3363,3340,3252,3429,0,0,0,0,0,0,28.83,26.47,28.83
$GC,863,-1.35,-170.3,2089,3363,3252,3429,76.4,-8.9,83,869,0.00,2.05,0.00,0.000,1030,0.000,0.024,2092,1979,3341,3253,3429,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1188,-1.35,-170.3,2090,1979,3254,3430,106.2,-9.0,99,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1978,3341,3254,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1489,-1.35,-170.3,2091,1979,3253,3429,133.2,-8.8,114,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1979,3341,3253,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1789,-1.35,-170.3,2091,1979,3253,3428,159.9,-9.1,129,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1978,3340,3253,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2091,-1.35,-170.3,2091,1979,3253,3425,187.3,-9.0,144,2097,0.00,2.08,0.00,0.000,260,0.000,0.030,2083,3359,3338,3253,3424,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2201,-1.35,-170.3,2083,3359,3253,3423,197.5,-9.1,149,2207,0.00,2.05,0.00,0.000,1030,0.000,0.024,2088,1975,3337,3253,3422,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2525,-1.35,-170.3,2088,1975,3253,3420,227.8,-9.0,165,2532,0.00,2.12,0.00,0.000,516,0.000,0.042,2096,578,3336,3253,3420,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2572,-1.35,-170.3,2096,577,3253,3420,232.0,-9.0,167,2579,0.00,2.03,0.00,0.000,1030,0.000,0.016,2088,1989,3336,3253,3420,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2898,-1.35,-170.3,2087,1990,3253,3416,261.6,-8.9,183,2904,0.00,2.17,0.00,0.000,516,0.000,0.041,2096,578,3334,3253,3416,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2927,-1.35,-170.3,2095,578,3253,3416,263.9,-8.8,184,2934,0.00,2.00,0.00,0.000,1030,0.000,0.015,2088,1974,3334,3253,3416,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3247,-1.35,-170.3,2087,1978,3252,3413,293.4,-9.4,200,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,1979,3332,3252,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3549,-1.35,-170.3,2087,1979,3250,3410,320.5,-9.0,215,3555,0.00,2.05,0.00,0.000,260,0.000,0.033,2077,3356,3329,3250,3409,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3633,-1.35,-170.3,2077,3356,3249,3408,326.9,-9.1,218,3642,0.12,2.08,0.00,0.000,3078,0.153,0.028,2109,1972,3328,3249,3408,0,0,0,0,0,0,26.48,26.66,28.83
$GC,3938,-1.35,-170.3,2109,1972,3248,3407,355.6,-9.1,234,3945,0.00,2.15,0.00,0.000,516,0.000,0.046,2120,572,3327,3248,3406,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4029,-1.35,-170.3,2119,572,3248,3406,363.4,-9.0,238,4035,0.00,2.03,0.00,0.000,1030,0.000,0.017,2111,1970,3326,3247,3406,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4349,-1.35,-170.3,2111,1970,3244,3404,392.8,-8.9,254,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,1970,3323,3243,3404,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4427,begin apogee
$GC,4432,-0.25,0.0,2109,2305,3243,3403,400.2,-9.2,258,4597,0.70,0.00,154.48,1.017,10246,0.113,0.000,2341,2306,2640,2592,2689,0,0,0,0,1,0,26.48,28.83,24.22
$STATE,4599,end apogee,CONTROL_FINISHED_OK
$STATE,4600,begin climb
$GC,4601,1.35,170.3,2341,2306,2590,2689,386.1,0.0,265,4781,1.00,2.28,162.98,0.874,10500,0.057,0.033,2698,3680,1929,1897,1961,0,0,0,0,0,0,25.13,24.92,24.25
$GC,4943,1.37,175.2,2698,3680,1897,1947,355.0,9.1,280,4949,0.00,2.12,0.00,0.000,1030,0.000,0.023,2708,2306,1922,1897,1947,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5257,1.40,187.2,2708,2307,1896,1943,325.9,8.8,296,5278,0.00,0.00,13.62,0.823,8198,0.000,0.000,2708,2306,1867,1842,1893,0,0,0,0,0,0,28.83,28.83,25.25
$GC,5577,1.40,189.9,2708,2306,1838,1885,297.1,9.2,312,5583,0.00,2.20,0.00,0.000,516,0.000,0.043,2718,893,1861,1837,1885,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5678,1.42,196.6,2718,893,1837,1885,289.4,9.0,316,5687,0.00,2.08,4.20,0.648,9222,0.000,0.017,2718,2300,1837,1811,1864,0,0,0,0,0,0,28.83,26.41,25.25
$GC,5984,1.43,201.4,2718,2301,1811,1869,260.1,9.1,332,6000,0.00,2.17,8.62,0.787,8452,0.000,0.034,2718,3690,1815,1785,1846,0,0,0,0,0,0,28.83,26.29,25.51
$GC,6162,1.45,208.0,2718,3690,1784,1842,245.0,9.0,340,6176,0.00,2.10,7.25,0.768,9222,0.000,0.024,2728,2296,1789,1759,1820,0,0,0,0,0,0,28.83,26.39,25.49
$GC,6474,1.47,216.9,2728,2296,1758,1815,216.3,8.9,356,6489,0.00,0.00,10.50,0.757,8710,0.000,0.000,2728,2296,1749,1717,1781,0,0,0,0,0,0,28.83,28.83,25.53
$GC,6798,1.47,218.5,2728,2296,1716,1776,186.2,9.2,372,6804,0.00,2.17,0.00,0.000,516,0.000,0.044,2739,895,1746,1716,1776,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6901,1.51,232.0,2739,895,1716,1776,178.5,8.8,376,6924,0.00,2.08,15.32,0.721,9222,0.000,0.018,2739,2304,1687,1652,1723,0,0,0,0,0,0,28.83,26.50,25.53
$GC,7234,1.52,238.6,2739,2304,1652,1716,147.6,9.0,393,7241,0.00,0.00,4.60,0.641,8198,0.000,0.000,2739,2304,1666,1631,1702,0,0,0,0,0,0,28.83,28.83,25.39
$GC,7534,1.53,242.9,2738,2304,1626,1703,120.7,9.1,408,7546,0.00,2.10,4.82,0.639,8452,0.000,0.034,2739,3684,1648,1604,1693,0,0,0,0,0,0,28.83,26.39,25.44
$GC,7574,1.56,254.2,1764,3683,1571,1685,118.5,8.9,409,7594,0.00,2.10,14.57,0.663,9222,0.000,0.025,2749,2300,1602,1552,1652,0,0,0,0,0,0,28.83,26.41,25.56
$GC,7908,1.57,258.2,2749,2300,1548,1641,87.4,9.1,426,7914,0.00,2.17,0.00,0.000,516,0.000,0.044,2759,900,1594,1548,1641,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7934,1.59,264.4,2759,900,1548,1641,85.1,9.0,427,7951,0.00,2.08,10.23,0.631,9222,0.000,0.017,2760,2298,1558,1507,1610,0,0,0,0,0,0,28.83,26.46,25.61
$GC,8260,1.60,269.8,2759,2298,1504,1604,56.1,9.1,443,8271,0.00,2.12,4.10,0.535,8452,0.000,0.036,2759,3686,1539,1487,1591,0,0,0,0,0,0,28.83,26.37,25.46
$GC,8474,1.63,280.7,2759,3687,1487,1591,37.1,8.9,459,8495,0.00,2.10,14.05,0.581,9222,0.000,0.026,2769,2301,1489,1437,1542,0,0,0,0,0,0,28.83,26.46,25.66
$GC,8807,1.63,281.3,1728,2298,1409,1529,6.9,9.2,510,8815,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2303,1486,1437,1535,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8847,end climb,SURFACE_DEPTH_REACHED
$STATE,8847,begin surface coast
$FINISH,0.0,1.024723
$STATE,8883,end surface coast,CONTROL_FINISHED_OK
$STATE,8883,begin surface
$SM_CCo,8899,210.98,0.691,3,0,399,549.47
$SM_CCo,9128,-0.15,0.000,0,0,403,549.47
$SM_CCo,9132,1.95,0.107,0,0,399,549.47
$SM_GC,-23.93,7.55,0.50,1.95,0.075,0.043,0.107,85,1953,399,-10.56,0.93,549.47,0,0,0,0,0,0,26.44,26.48,25.20
$IRIDIUM_FIX,1948.12,12006.31,220313,020233
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.42
$INTERNAL_PRESSURE,9.12643
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3960064
$24V_AH,24.2,28.163
$10V_AH,10.2,15.802
$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,17.350,59.975,429.350,212.925,0.000,0.000,0.000,250.750,0.000,0.000,17.485,2058.084,4774.275,757.286,1620.556,330.202,0.000,1869.885,0.000,1371.557,0.000,1.486,0.000
$DEVICE_MAMPS,220.320,45.900,1016.685,690.795,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8892.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.561,0.000,0.000,0.000
$MEM,323924
$DATA_FILE_SIZE,16797,523
$CAP_FILE_SIZE,399427,2122
$CFSIZE,260034560,232148992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$CURRENT,0.059,276.7,1
$GPS,220313,075635,1956.620,12004.757,94,0.9,94,-2.6