version: 66.11
glider: 121
mission: 10
dive: 211
start: 3 27 113 12 29 33
data:
$ID,121
$MISSION,10
$DIVE,211
$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,-100760.05
$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,47
$R_STBD_OVSHOOT,56
$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
$GPS1,270313,122204,2058.101,12000.730,23,1.0,23,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-63.0
$GPS2,270313,122906,2058.143,12000.714,18,0.9,19,-2.9
$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,353.7,86787,-18.5,-9.259,-21.12,2828
$D_GRID,3500
$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,19,-1.35,-170.3,89,1948,337,475,0.0,0.0,0,44,0.00,0.00,-23.45,0.000,16386,0.000,0.000,89,1948,1020,1007,1033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,89,1949,1007,1035,3.5,-9.1,3,161,8.00,2.22,-94.12,0.000,18692,0.219,0.045,2090,3364,3336,3245,3428,0,0,0,0,0,0,25.72,26.14,26.44
$GC,208,-1.35,-170.3,2089,3364,3248,3428,18.6,-9.8,26,216,0.00,2.12,0.00,0.000,1030,0.000,0.028,2098,1975,3338,3248,3428,0,0,0,0,0,0,28.83,26.20,28.83
$GC,524,-1.35,-170.3,2098,1975,3250,3428,47.3,-9.1,63,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,1975,3339,3250,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,825,-1.35,-170.3,2098,1975,3252,3428,74.0,-9.0,80,831,0.00,2.12,0.00,0.000,260,0.000,0.030,2089,3372,3340,3253,3428,0,0,0,0,0,0,28.83,26.46,28.83
$GC,865,-1.35,-170.3,2089,3373,3253,3428,76.2,-8.8,81,875,0.00,2.12,0.00,0.000,1030,0.000,0.026,2092,1966,3340,3253,3428,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1173,-1.35,-170.3,2092,1966,3255,3428,105.5,-9.0,97,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1966,3341,3255,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1474,-1.35,-170.3,2091,1966,3255,3428,132.2,-9.1,112,1479,0.00,2.12,0.00,0.000,516,0.000,0.041,2101,568,3341,3254,3428,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1576,-1.35,-170.3,2101,568,3254,3428,139.9,-8.7,116,1584,0.00,2.05,0.00,0.000,1030,0.000,0.016,2093,1996,3341,3255,3428,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1881,-1.35,-170.3,2092,1997,3254,3427,168.9,-9.1,132,1887,0.00,2.03,0.00,0.000,260,0.000,0.032,2082,3363,3340,3254,3427,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1969,-1.35,-170.3,2082,3363,3254,3426,176.8,-9.0,136,1975,0.00,2.10,0.00,0.000,1030,0.000,0.035,2086,1968,3340,3254,3426,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2296,-1.35,-170.3,2086,1968,3254,3423,205.1,-8.5,152,2302,0.00,2.12,0.00,0.000,516,0.000,0.044,2096,575,3338,3254,3423,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2374,-1.35,-170.3,2095,575,3254,3422,211.4,-8.9,155,2380,0.00,2.03,0.00,0.000,1030,0.000,0.016,2088,1980,3338,3254,3422,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2689,-1.35,-170.3,2087,1981,3254,3419,241.0,-9.2,171,2695,0.00,2.05,0.00,0.000,260,0.000,0.033,2077,3357,3336,3254,3418,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2770,-1.35,-170.3,2076,3357,3254,3417,247.1,-8.9,174,2778,0.12,2.08,0.00,0.000,3078,0.155,0.028,2110,1977,3335,3254,3417,0,0,0,0,0,0,26.40,26.60,28.83
$GC,3077,-1.35,-170.3,2110,1977,3253,3415,276.4,-9.5,190,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1977,3334,3253,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3378,-1.35,-170.3,2110,1977,3252,3412,303.6,-9.6,205,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1977,3332,3252,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3679,-1.35,-170.3,2110,1977,3251,3410,330.6,-9.0,220,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1977,3330,3251,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3980,-1.35,-170.3,2110,1977,3248,3407,357.3,-9.0,235,3986,0.00,2.10,0.00,0.000,260,0.000,0.034,2102,3353,3327,3248,3406,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4010,-1.35,-170.3,2102,3353,3248,3407,359.8,-9.0,236,4016,0.00,2.10,0.00,0.000,1030,0.000,0.031,2108,1977,3327,3248,3407,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4332,-1.35,-170.3,2108,1976,3245,3405,389.0,-8.9,252,4338,0.00,2.17,0.00,0.000,516,0.000,0.047,2116,573,3324,3245,3404,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4362,-1.35,-170.3,2116,573,3245,3404,391.4,-8.9,253,4369,0.00,2.05,0.00,0.000,1030,0.000,0.017,2107,1978,3324,3245,3404,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,4462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4462,begin apogee
$GC,4467,-0.25,0.0,2105,2310,3244,3404,401.1,-9.1,258,4627,0.73,0.00,152.73,0.886,10246,0.115,0.000,2343,2311,2637,2588,2686,0,0,0,0,0,0,26.36,28.83,24.44
$STATE,4629,end apogee,CONTROL_FINISHED_OK
$STATE,4629,begin climb
$GC,4631,1.35,170.3,2343,2311,2580,2678,386.8,0.0,265,4796,1.00,2.22,154.62,0.874,10500,0.058,0.035,2702,3683,1935,1903,1967,0,0,0,0,0,0,25.22,24.94,24.25
$GC,4901,1.37,177.6,2702,3683,1901,1950,361.7,9.0,277,4908,0.00,2.17,1.38,0.052,9222,0.000,0.025,2712,2304,1914,1889,1940,0,0,0,0,0,0,28.83,25.65,25.60
$GC,5229,1.38,182.6,2712,2304,1889,1941,332.3,9.1,293,5241,0.00,2.22,4.35,0.682,8452,0.000,0.033,2712,3687,1894,1868,1921,0,0,0,0,0,0,28.83,26.13,25.12
$GC,5281,1.40,187.6,2712,3687,1868,1923,327.7,9.1,295,5300,0.00,2.15,10.18,0.828,9222,0.000,0.025,2721,2289,1870,1844,1897,0,0,0,0,0,0,28.83,26.17,25.23
$GC,5598,1.43,200.5,2721,2289,1844,1890,299.2,8.8,311,5621,0.00,2.25,13.07,0.813,8452,0.000,0.033,2722,3690,1818,1790,1846,0,0,0,0,0,0,28.83,26.08,25.34
$GC,5671,1.45,208.9,2721,3691,1789,1842,293.1,9.0,314,5689,0.00,2.15,9.00,0.811,9222,0.000,0.026,2732,2295,1783,1753,1813,0,0,0,0,0,0,28.83,26.15,25.25
$GC,5987,1.47,218.3,2732,2296,1753,1806,264.8,8.9,330,5999,0.00,0.00,9.82,0.794,8198,0.000,0.000,2732,2295,1748,1717,1779,0,0,0,0,0,0,28.83,28.83,25.38
$GC,6288,1.51,232.4,2732,2296,1713,1770,237.9,8.7,345,6307,0.00,0.00,14.20,0.770,8198,0.000,0.000,2732,2295,1687,1652,1722,0,0,0,0,0,0,28.83,28.83,25.41
$GC,6608,1.51,232.4,2732,2295,1652,1714,208.8,9.5,361,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2295,1682,1651,1714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6908,1.51,232.4,2732,2295,1652,1713,181.6,9.4,376,6915,0.00,2.17,0.00,0.000,260,0.000,0.034,2731,3695,1682,1652,1713,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6961,1.52,236.9,2732,3695,1651,1713,177.3,9.1,378,6967,0.00,2.15,0.00,0.000,1030,0.000,0.028,2742,2292,1682,1651,1713,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7281,1.55,247.6,2742,2292,1651,1711,148.1,8.9,394,7304,0.00,2.20,14.27,0.684,8708,0.000,0.045,2752,894,1624,1578,1671,0,0,0,0,0,0,28.83,26.27,25.63
$GC,7372,1.57,258.3,2752,894,1578,1666,140.3,8.9,398,7391,0.00,2.10,10.57,0.679,9222,0.000,0.018,2752,2306,1582,1532,1633,0,0,0,0,0,0,28.83,26.39,25.50
$GC,7689,1.57,258.3,2752,2305,1531,1626,111.3,9.4,414,7695,0.00,2.12,0.00,0.000,260,0.000,0.037,2752,3688,1578,1531,1626,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7779,1.60,270.3,2752,3688,1529,1626,103.6,8.8,418,7799,0.00,2.12,12.20,0.636,9222,0.000,0.028,2762,2298,1533,1480,1586,0,0,0,0,0,0,28.83,26.39,25.57
$GC,8098,1.63,281.1,2762,2298,1479,1581,75.6,8.9,434,8114,0.00,2.28,10.80,0.606,8708,0.000,0.044,2773,896,1490,1438,1542,0,0,0,0,0,0,28.83,26.24,25.61
$GC,8177,1.65,290.9,2772,896,1437,1539,69.5,8.9,437,8196,0.00,2.10,10.12,0.599,9222,0.000,0.018,2773,2307,1450,1400,1500,0,0,0,0,0,0,28.83,26.35,25.53
$GC,8505,1.67,296.2,2773,2307,1399,1493,38.6,9.1,459,8514,0.00,0.00,3.97,0.495,8198,0.000,0.000,2773,2307,1431,1385,1478,0,0,0,0,0,0,28.83,28.83,25.39
$GC,8830,1.67,296.8,2773,2308,1385,1478,9.4,9.2,505,8837,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2308,1431,1384,1478,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8904,end climb,SURFACE_DEPTH_REACHED
$STATE,8904,begin surface coast
$FINISH,0.0,1.024308
$STATE,8943,end surface coast,CONTROL_FINISHED_OK
$STATE,8943,begin surface
$SM_CCo,8960,204.43,0.675,2,0,399,549.47
$SM_CCo,9179,-0.17,0.000,0,0,401,549.47
$SM_CCo,9182,0.65,0.103,0,0,401,549.47
$SM_GC,-23.93,7.53,0.55,0.65,0.072,0.035,0.103,84,1951,401,-10.56,0.82,549.47,0,0,0,0,0,0,26.45,26.50,25.19
$IRIDIUM_FIX,2052.52,12003.59,270313,090941
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.87
$INTERNAL_PRESSURE,9.17526
$TCM_TEMP,20.10
$XPDR_PINGS,2
$SC_FREEKB,3942144
$24V_AH,24.3,35.419
$10V_AH,10.1,18.784
$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,17.375,65.025,431.300,205.075,0.000,0.000,0.000,231.875,0.500,0.000,19.756,1959.288,4933.819,768.955,1534.307,384.577,0.000,1810.001,0.000,1332.846,0.000,1.487,0.000
$DEVICE_MAMPS,218.790,47.430,885.870,675.495,0.000,0.000,0.000,135.405,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8950.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.539,0.000,0.000,0.000
$MEM,323904
$DATA_FILE_SIZE,16781,525
$CAP_FILE_SIZE,403884,1946
$CFSIZE,260034560,226721792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.172,294.3,1
$GPS,270313,150336,2059.399,11959.655,21,1.6,21,-2.9