version: 66.11
glider: 121
mission: 10
dive: 178
start: 3 23 113 19 11 33
data:
$ID,121
$MISSION,10
$DIVE,178
$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,-100718.5
$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,49
$R_STBD_OVSHOOT,58
$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
$GPS1,230313,190406,2015.896,12004.669,16,0.9,16,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.1
$GPS2,230313,191106,2015.972,12004.739,16,1.0,17,-2.7
$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,336.7,165081,-18.5,-9.259,-21.12,2828
$D_GRID,3480
$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,-170.3,81,1952,332,479,0.0,0.0,0,44,0.00,0.00,-23.75,0.000,16386,0.000,0.000,81,1952,1025,1008,1042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,81,1952,1008,1043,3.3,-9.3,3,146,7.82,2.22,-84.55,0.000,18948,0.211,0.053,2109,571,3338,3246,3430,0,0,0,0,0,0,25.80,26.14,26.44
$GC,231,-1.35,-170.3,1248,571,3221,3426,20.3,-9.2,31,239,0.00,2.08,0.00,0.000,1030,0.000,0.015,2100,1986,3339,3249,3430,0,0,0,0,0,0,28.83,26.29,28.83
$GC,547,-1.35,-170.3,2100,1986,3251,3429,48.4,-9.0,66,553,0.00,2.05,0.00,0.000,260,0.000,0.031,2090,3360,3340,3251,3430,0,0,0,0,0,0,28.83,26.41,28.83
$GC,619,-1.35,-170.3,2090,3360,3252,3430,54.6,-9.0,70,625,0.00,2.08,0.00,0.000,1030,0.000,0.025,2098,1974,3341,3252,3430,0,0,0,0,0,0,28.83,26.46,28.83
$GC,939,-1.35,-170.3,2098,1974,3254,3430,83.3,-8.6,86,946,0.00,2.12,0.00,0.000,516,0.000,0.040,2108,571,3342,3254,3430,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1073,-1.35,-170.3,2108,571,3254,3430,94.8,-8.9,92,1079,0.00,2.03,0.00,0.000,1030,0.000,0.015,2100,1984,3342,3254,3430,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1393,-1.35,-170.3,2099,1986,3254,3430,124.0,-9.1,108,1398,0.00,2.17,0.00,0.000,516,0.000,0.039,2108,567,3342,3254,3430,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1428,-1.35,-170.3,2107,567,3254,3430,126.3,-9.2,109,1434,0.00,2.03,0.00,0.000,1030,0.000,0.016,2099,1979,3342,3255,3430,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1742,-1.35,-170.3,2099,1979,3254,3429,155.7,-9.2,125,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1979,3341,3254,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2044,-1.35,-170.3,2099,1980,3254,3426,182.8,-9.1,140,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1980,3340,3254,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2345,-1.35,-170.3,2099,1980,3254,3423,210.0,-9.1,155,2351,0.00,2.17,0.00,0.000,516,0.000,0.040,2106,566,3337,3254,3421,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2405,-1.35,-170.3,2106,567,3254,3422,214.5,-9.3,157,2413,0.00,2.03,0.00,0.000,1030,0.000,0.016,2098,1979,3338,3254,3422,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2712,-1.35,-170.3,2098,1979,3254,3418,243.5,-8.8,173,2718,0.00,2.17,0.00,0.000,516,0.000,0.041,2106,569,3336,3254,3418,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2741,-1.35,-170.3,2105,569,3253,3418,245.6,-8.9,174,2748,0.00,2.03,0.00,0.000,1030,0.000,0.016,2097,1976,3335,3254,3417,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3061,-1.35,-170.3,2097,1977,3252,3415,273.9,-8.7,190,3067,0.00,2.05,0.00,0.000,260,0.000,0.033,2087,3356,3334,3253,3415,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3102,-1.35,-170.3,2087,3356,3252,3414,276.1,-8.8,191,3110,0.00,2.08,0.00,0.000,1030,0.000,0.028,2089,1972,3333,3252,3414,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3409,-1.35,-170.3,2089,1972,3252,3411,304.8,-9.0,207,3415,0.00,2.15,0.00,0.000,516,0.000,0.045,2099,568,3331,3252,3411,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3465,-1.35,-170.3,2098,568,3252,3411,308.9,-9.0,209,3471,0.00,2.05,0.00,0.000,1030,0.000,0.017,2091,1975,3331,3252,3411,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3780,-1.35,-170.3,2090,1976,3248,3408,337.5,-8.6,225,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,1977,3328,3249,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4081,-1.35,-170.3,2090,1976,3247,3407,364.7,-9.1,240,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,1977,3327,3247,3407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4381,-1.35,-170.3,2091,1977,3243,3404,392.2,-9.4,255,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1977,3324,3244,3404,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4478,begin apogee
$GC,4483,-0.25,0.0,2088,2314,3243,3403,400.9,-8.9,260,4648,0.77,0.00,152.80,1.024,10246,0.116,0.000,2342,2314,2639,2590,2689,0,0,0,0,1,0,26.45,28.83,24.24
$STATE,4650,end apogee,CONTROL_FINISHED_OK
$STATE,4650,begin climb
$GC,4652,1.35,170.3,2342,2314,2590,2689,386.6,0.0,267,4824,1.00,2.25,159.18,0.886,10500,0.056,0.034,2700,3676,1931,1897,1965,0,0,0,0,0,0,25.14,24.91,24.23
$GC,5059,1.37,177.0,2700,3676,1896,1947,350.4,9.0,285,5068,0.00,2.12,0.00,0.000,1030,0.000,0.024,2710,2299,1921,1896,1947,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5366,1.37,177.0,2709,2299,1896,1943,321.2,9.3,301,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2299,1919,1896,1943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5667,1.38,180.4,2709,2299,1895,1941,293.6,9.1,316,5674,0.00,2.20,1.85,0.058,8452,0.000,0.032,2710,3680,1902,1878,1927,0,0,0,0,0,0,28.83,26.39,26.28
$GC,5719,1.39,183.6,2710,3680,1878,1929,289.1,9.1,318,5732,0.00,2.10,5.15,0.749,9222,0.000,0.024,2720,2296,1890,1865,1916,0,0,0,0,0,0,28.83,26.41,25.48
$GC,6041,1.41,194.6,2719,2296,1865,1921,259.9,8.9,334,6060,0.00,0.00,15.18,0.774,8198,0.000,0.000,2719,2296,1841,1814,1869,0,0,0,0,0,0,28.83,28.83,25.51
$GC,6360,1.41,194.6,2719,2296,1814,1862,230.2,9.5,350,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2296,1838,1814,1862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6662,1.41,194.6,2719,2296,1814,1860,202.9,9.3,365,6668,0.00,2.15,0.00,0.000,260,0.000,0.033,2719,3690,1837,1814,1860,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6771,1.42,199.1,1728,3689,1769,1850,192.9,9.1,370,6777,0.00,2.10,0.00,0.000,1030,0.000,0.025,2729,2298,1836,1814,1859,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7097,1.44,205.4,2729,2298,1814,1859,163.5,9.0,386,7114,0.00,2.15,10.88,0.709,8452,0.000,0.032,2730,3689,1797,1771,1824,0,0,0,0,0,0,28.83,26.39,25.70
$GC,7261,1.46,211.6,2729,3689,1770,1820,149.8,9.0,393,7276,0.10,2.12,4.80,0.662,13318,0.200,0.026,2718,2292,1776,1749,1804,0,0,0,0,0,0,26.22,26.44,25.45
$GC,7596,1.50,230.3,2718,2292,1749,1804,119.2,8.6,410,7624,0.00,2.20,21.05,0.657,8708,0.000,0.044,2728,899,1697,1664,1731,0,0,0,0,0,0,28.83,26.17,25.57
$GC,7707,1.51,234.1,2730,899,1663,1726,109.1,9.1,415,7719,0.00,2.08,2.95,0.433,9222,0.000,0.018,2728,2296,1684,1652,1716,0,0,0,0,0,0,28.83,26.32,25.32
$GC,8034,1.52,235.4,2728,2296,1652,1716,79.3,9.2,431,8039,0.00,2.12,0.00,0.000,260,0.000,0.036,2728,3692,1684,1652,1716,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8150,1.53,242.2,2728,3692,1653,1716,69.5,9.0,436,8164,0.00,2.12,10.20,0.631,9222,0.000,0.026,2738,2295,1652,1609,1695,0,0,0,0,0,0,28.83,26.44,25.65
$GC,8463,1.54,244.4,2738,2294,1600,1687,40.4,9.2,457,8468,0.00,2.17,0.00,0.000,516,0.000,0.044,2749,894,1643,1600,1687,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8578,1.55,249.2,2748,894,1599,1687,30.3,9.1,467,8592,0.00,2.08,5.30,0.588,9222,0.000,0.018,2749,2301,1624,1577,1671,0,0,0,0,0,0,28.83,26.51,25.67
$STATE,8882,end climb,SURFACE_DEPTH_REACHED
$STATE,8882,begin surface coast
$FINISH,0.0,1.025324
$STATE,8918,end surface coast,CONTROL_FINISHED_OK
$STATE,8918,begin surface
$SM_CCo,8934,240.05,0.722,3,0,400,549.47
$SM_CCo,9193,-0.03,0.000,0,0,400,549.47
$SM_CCo,9196,0.03,0.310,0,0,400,549.47
$SM_GC,-23.93,7.45,0.52,0.03,0.073,0.034,0.310,83,1957,400,-10.55,1.07,549.47,0,0,0,0,0,0,26.51,26.53,25.24
$IRIDIUM_FIX,2006.47,12004.64,230313,161625
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.95
$INTERNAL_PRESSURE,9.11667
$TCM_TEMP,19.20
$XPDR_PINGS,0
$SC_FREEKB,3954816
$24V_AH,24.2,30.342
$10V_AH,10.2,16.685
$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,17.150,64.450,389.325,240.075,0.000,0.000,0.000,241.100,0.000,0.000,17.974,2048.253,4837.163,753.083,1604.150,353.726,0.000,1811.610,0.000,1360.182,0.000,1.487,0.000
$DEVICE_MAMPS,211.140,52.785,1024.335,722.160,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8928.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.514,0.000,0.000,0.000
$MEM,323884
$DATA_FILE_SIZE,16785,524
$CAP_FILE_SIZE,417545,2086
$CFSIZE,260034560,230551552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$CURRENT,0.138, 17.2,1
$GPS,230313,214733,2017.419,12004.417,124,1.3,124,-2.7