version: 66.11
glider: 121
mission: 10
dive: 181
start: 3 24 113 3 16 59
data:
$ID,121
$MISSION,10
$DIVE,181
$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,-100722.27
$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,50
$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
$GPS1,240313,030919,2020.241,12004.029,21,1.4,21,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.3
$GPS2,240313,031631,2020.248,12004.126,17,1.4,18,-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,7.9,157120,-18.5,-9.259,-21.12,2828
$D_GRID,3540
$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,-170.3,88,1950,328,474,0.0,0.0,0,43,0.00,0.00,-23.40,0.000,16386,0.000,0.000,88,1949,1008,994,1023,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,88,1950,994,1025,3.1,-9.0,3,153,7.85,2.22,-91.38,0.000,18948,0.214,0.053,2107,570,3337,3245,3429,0,0,0,0,0,0,25.77,26.14,26.45
$GC,401,-1.35,-170.3,2107,570,3250,3429,35.4,-9.0,52,407,0.00,2.08,0.00,0.000,1030,0.000,0.015,2098,1997,3340,3251,3429,0,0,0,0,0,0,28.83,26.41,28.83
$GC,726,-1.35,-170.3,2098,1999,3253,3429,64.0,-8.8,76,732,0.00,2.03,0.00,0.000,260,0.000,0.030,2088,3361,3341,3253,3429,0,0,0,0,0,0,28.83,26.47,28.83
$GC,777,-1.35,-170.3,2089,3361,3253,3429,68.0,-9.0,78,782,0.00,2.08,0.00,0.000,1030,0.000,0.025,2092,1973,3341,3253,3429,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1097,-1.35,-170.3,2093,1974,3255,3429,97.2,-9.1,94,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1974,3342,3255,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1398,-1.35,-170.3,2092,1974,3255,3429,124.7,-9.1,109,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1974,3341,3255,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1698,-1.35,-170.3,2092,1974,3254,3429,151.7,-9.2,124,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1974,3342,3255,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1999,-1.35,-170.3,2092,1974,3255,3427,178.8,-8.8,139,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1974,3341,3255,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2298,-1.35,-170.3,2092,1974,3254,3423,206.5,-9.2,154,2303,0.00,2.12,0.00,0.000,516,0.000,0.041,2103,570,3338,3254,3423,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2359,-1.35,-170.3,2102,570,3254,3423,210.9,-9.3,156,2367,0.00,2.03,0.00,0.000,1030,0.000,0.016,2094,1981,3338,3254,3422,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2665,-1.35,-170.3,2094,1981,3254,3420,239.6,-9.3,172,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,1981,3337,3255,3420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2967,-1.35,-170.3,2094,1982,3254,3417,266.5,-9.0,187,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,1982,3335,3254,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3266,-1.35,-170.3,2094,1983,3253,3414,294.1,-9.1,202,3272,0.00,2.17,0.00,0.000,516,0.000,0.041,2102,573,3333,3253,3414,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3395,-1.35,-170.3,1264,573,3225,3410,306.0,-9.6,208,3401,0.00,2.03,0.00,0.000,1030,0.000,0.016,2094,1973,3332,3252,3413,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3721,-1.35,-170.3,2094,1974,3251,3409,335.0,-9.1,224,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,1973,3330,3251,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4021,-1.35,-170.3,2094,1974,3248,3408,361.7,-9.1,239,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,1974,3328,3248,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4321,-1.35,-170.3,2094,1974,3246,3406,388.2,-8.7,254,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,1974,3326,3246,3406,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4459,begin apogee
$GC,4464,-0.25,0.0,2092,2312,3244,3404,400.7,-9.0,261,4625,0.77,0.00,149.75,0.875,10246,0.116,0.000,2345,2312,2631,2582,2680,0,0,0,0,0,0,26.44,28.83,24.53
$STATE,4627,end apogee,CONTROL_FINISHED_OK
$STATE,4627,begin climb
$GC,4629,1.35,170.3,2345,2312,2581,2678,386.4,0.0,268,4793,1.00,2.28,154.95,0.848,10500,0.057,0.034,2704,3679,1938,1904,1972,0,0,0,0,0,0,25.32,25.01,24.37
$GC,5024,1.37,177.6,2704,3679,1899,1947,351.6,9.0,285,5033,0.00,2.12,0.00,0.000,1030,0.000,0.024,2714,2298,1923,1899,1947,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5330,1.37,177.6,2713,2298,1898,1944,322.1,9.3,301,5336,0.00,2.15,0.00,0.000,260,0.000,0.032,2714,3690,1922,1898,1946,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5447,1.39,184.5,2714,3690,1898,1943,312.4,9.0,306,5467,0.00,2.12,10.50,0.799,9222,0.000,0.024,2723,2292,1881,1857,1906,0,0,0,0,0,0,28.83,26.35,25.45
$GC,5786,1.41,192.1,2723,2292,1855,1897,281.5,9.0,323,5790,0.00,0.00,2.80,0.396,8198,0.000,0.000,2723,2292,1856,1832,1880,0,0,0,0,0,0,28.83,28.83,25.27
$GC,6085,1.41,192.1,2723,2292,1831,1888,253.7,9.3,338,6091,0.00,2.15,0.00,0.000,260,0.000,0.033,2723,3692,1859,1831,1887,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6155,1.41,193.2,1728,3691,1785,1878,247.8,9.2,341,6162,0.12,2.12,0.00,0.000,5126,0.191,0.025,2706,2292,1859,1831,1888,0,0,0,0,0,0,26.23,26.48,28.83
$GC,6477,1.42,198.3,2704,2292,1831,1888,218.7,9.1,357,6493,0.00,2.25,10.98,0.734,8708,0.000,0.043,2714,897,1826,1797,1856,0,0,0,0,0,0,28.83,26.34,25.65
$GC,6576,1.45,209.3,2714,897,1795,1850,210.6,8.9,361,6595,0.00,2.08,11.43,0.724,9222,0.000,0.017,2714,2302,1779,1749,1810,0,0,0,0,0,0,28.83,26.45,25.55
$GC,6914,1.48,222.8,2714,2302,1750,1803,179.3,8.8,378,6937,0.00,2.17,13.52,0.696,8452,0.000,0.036,2714,3681,1723,1692,1755,0,0,0,0,0,0,28.83,26.23,25.56
$GC,7131,1.51,234.4,1752,3680,1656,1743,160.6,8.8,388,7149,0.00,2.10,11.43,0.683,9222,0.000,0.025,2724,2301,1680,1646,1714,0,0,0,0,0,0,28.83,26.36,25.53
$GC,7448,1.52,236.2,2724,2301,1644,1707,131.6,9.2,404,7454,0.00,2.15,0.00,0.000,260,0.000,0.034,2724,3692,1675,1645,1706,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7535,1.53,243.1,2724,3692,1644,1706,123.7,9.0,408,7552,0.00,2.12,8.12,0.657,9222,0.000,0.026,2734,2295,1644,1601,1688,0,0,0,0,0,0,28.83,26.42,25.62
$GC,7861,1.55,250.0,2734,2295,1598,1684,94.8,9.0,424,7869,0.00,0.00,5.38,0.622,8198,0.000,0.000,2734,2295,1622,1575,1669,0,0,0,0,0,0,28.83,28.83,25.63
$GC,8163,1.59,265.2,2734,2295,1575,1669,67.6,8.7,439,8187,0.00,2.28,17.73,0.586,8708,0.000,0.043,2744,889,1553,1500,1606,0,0,0,0,0,0,28.83,26.23,25.65
$GC,8255,1.61,273.2,1760,888,1470,1594,59.6,9.0,443,8274,0.00,2.10,8.15,0.594,9222,0.000,0.018,2745,2303,1519,1467,1572,0,0,0,0,0,0,28.83,26.36,25.58
$GC,8572,1.61,274.6,2746,2302,1467,1568,30.8,9.2,469,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2303,1517,1467,1568,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8877,end climb,SURFACE_DEPTH_REACHED
$STATE,8877,begin surface coast
$FINISH,0.0,1.024693
$STATE,8913,end surface coast,CONTROL_FINISHED_OK
$STATE,8913,begin surface
$SM_CCo,8929,228.32,0.688,3,0,399,549.47
$SM_CCo,9176,-0.15,0.000,0,0,401,549.47
$SM_CCo,9180,0.75,0.128,0,0,401,549.47
$SM_GC,-23.93,7.40,0.52,0.75,0.070,0.034,0.128,83,1957,401,-10.57,1.10,549.47,0,0,0,0,0,0,26.48,26.53,25.15
$IRIDIUM_FIX,2013.37,12000.66,240313,000007
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.28
$INTERNAL_PRESSURE,9.17526
$TCM_TEMP,20.10
$XPDR_PINGS,0
$SC_FREEKB,3953664
$24V_AH,24.4,30.796
$10V_AH,10.2,16.873
$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,17.150,47.925,404.725,229.075,0.000,0.000,0.000,250.850,0.000,0.000,18.863,2020.838,4879.096,729.400,1602.979,360.906,0.000,1787.958,0.000,1348.864,0.000,1.487,0.000
$DEVICE_MAMPS,214.200,52.785,875.160,687.735,0.000,0.000,0.000,133.875,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8919.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.510,0.000,0.000,0.000
$MEM,323892
$DATA_FILE_SIZE,16729,525
$CAP_FILE_SIZE,410661,2070
$CFSIZE,260034560,230207488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$CURRENT,0.044,353.3,1
$GPS,240313,055134,2021.388,12004.040,55,0.8,55,-2.7