version: 66.11
glider: 121
mission: 10
dive: 225
start: 3 29 113 2 26 20
data:
$ID,121
$MISSION,10
$DIVE,225
$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,-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,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,-100777.73
$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,48
$R_STBD_OVSHOOT,57
$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
$GPS1,290313,021817,2116.119,12007.331,20,1.0,20,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.9
$GPS2,290313,022553,2116.123,12007.374,21,0.8,21,-2.9
$SPEED_LIMITS,0.160,0.240
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$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,57.1,105855,-18.5,-9.259,-21.12,2828
$D_GRID,2706
$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,-170.3,87,1953,341,460,0.0,0.0,0,44,0.00,0.00,-23.95,0.000,16386,0.000,0.000,86,1952,1024,1017,1031,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,87,1952,1017,1034,3.1,-9.1,3,163,7.80,2.17,-97.28,0.000,18692,0.208,0.041,2093,3380,3336,3242,3431,0,0,0,0,0,0,25.80,26.17,26.50
$GC,259,-1.35,-170.3,1248,3378,3216,3427,22.2,-9.0,35,267,0.00,2.12,0.00,0.000,1030,0.000,0.025,2100,1976,3337,3244,3431,0,0,0,0,0,0,28.83,26.27,28.83
$GC,574,-1.35,-170.3,2100,1976,3248,3430,50.3,-8.9,68,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1975,3339,3248,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,874,-1.35,-170.3,2101,1976,3252,3430,77.1,-8.9,83,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1975,3341,3252,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1176,-1.35,-170.3,2100,1976,3252,3430,104.1,-9.0,98,1182,0.00,2.15,0.00,0.000,516,0.000,0.041,2110,564,3341,3252,3430,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1269,-1.35,-170.3,2110,564,3252,3430,112.4,-9.0,102,1275,0.00,2.05,0.00,0.000,1030,0.000,0.015,2102,1998,3341,3252,3430,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1589,-1.35,-170.3,2102,1999,3252,3430,141.8,-8.9,118,1596,0.00,2.00,0.00,0.000,260,0.000,0.031,2092,3354,3340,3252,3429,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1702,-1.35,-170.3,2092,3354,3252,3427,151.3,-8.9,123,1708,0.00,2.08,0.00,0.000,1030,0.000,0.025,2092,1963,3339,3252,3427,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2022,-1.35,-170.3,2092,1963,3252,3426,180.7,-9.2,139,2028,0.00,2.12,0.00,0.000,516,0.000,0.042,2102,573,3338,3252,3425,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2101,-1.35,-170.3,2102,572,3252,3425,186.8,-9.0,142,2107,0.00,2.03,0.00,0.000,1030,0.000,0.016,2094,1984,3338,3252,3425,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2415,-1.35,-170.3,2094,1985,3252,3421,216.3,-8.9,158,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,1985,3337,3252,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2717,-1.35,-170.3,2094,1985,3251,3418,243.6,-9.2,173,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,1985,3335,3252,3418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3018,-1.35,-170.3,2093,1985,3252,3413,270.9,-9.2,188,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,1985,3332,3252,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3317,-1.35,-170.3,2093,1985,3250,3410,297.8,-8.6,203,3323,0.00,2.05,0.00,0.000,260,0.000,0.032,2084,3357,3329,3250,3409,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3385,-1.35,-170.3,2083,3357,3249,3409,303.9,-8.8,206,3391,0.00,2.08,0.00,0.000,1030,0.000,0.029,2085,1979,3328,3249,3408,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3710,-1.35,-170.3,2085,1979,3248,3406,333.6,-9.0,222,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1979,3327,3248,3406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4012,-1.35,-170.3,2085,1979,3244,3404,360.7,-9.0,237,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1979,3324,3244,3404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4311,-1.35,-170.3,2085,1979,3244,3402,387.8,-9.1,252,4318,0.00,2.17,0.00,0.000,516,0.000,0.046,2095,572,3321,3242,3401,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4342,-1.35,-170.3,2096,572,3242,3401,390.1,-8.9,253,4348,0.00,2.03,0.00,0.000,1030,0.000,0.017,2086,1970,3321,3242,3401,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,4439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4440,begin apogee
$GC,4445,-0.25,0.0,2084,2306,3241,3400,400.0,-9.3,258,4597,0.80,0.00,145.65,0.903,10246,0.118,0.000,2344,2306,2635,2587,2683,0,0,0,0,0,0,26.32,28.83,24.45
$STATE,4598,end apogee,CONTROL_FINISHED_OK
$STATE,4599,begin climb
$GC,4601,1.35,170.3,2343,2306,2584,2679,387.8,0.0,264,4760,1.00,2.22,149.35,0.895,10500,0.057,0.033,2701,3681,1937,1907,1967,0,0,0,0,0,0,25.24,24.96,24.25
$GC,5002,1.38,179.8,2701,3681,1904,1946,351.0,8.9,282,5011,0.00,2.12,2.97,0.457,9222,0.000,0.024,2711,2305,1906,1883,1929,0,0,0,0,0,0,28.83,26.00,24.87
$GC,5308,1.40,187.8,2711,2305,1883,1935,322.2,9.0,298,5328,0.00,0.00,12.50,0.813,8198,0.000,0.000,2711,2305,1867,1843,1892,0,0,0,0,0,0,28.83,28.83,25.32
$GC,5628,1.40,189.7,2711,2305,1842,1886,293.9,9.2,314,5634,0.00,2.15,0.00,0.000,260,0.000,0.034,2711,3691,1864,1842,1886,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5663,1.41,192.1,2711,3691,1842,1886,291.6,9.2,315,5669,0.00,2.12,0.00,0.000,1030,0.000,0.025,2721,2299,1864,1843,1886,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5978,1.41,192.1,2721,2299,1842,1885,261.8,9.4,331,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2299,1863,1842,1884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6279,1.43,202.9,2721,2298,1842,1882,235.2,8.9,346,6302,0.00,2.17,14.02,0.734,8452,0.000,0.034,2721,3684,1807,1781,1833,0,0,0,0,0,0,28.83,26.29,25.58
$GC,6394,1.45,209.3,2721,3684,1780,1830,225.0,9.0,351,6406,0.00,2.12,5.03,0.692,9222,0.000,0.026,2731,2294,1785,1758,1813,0,0,0,0,0,0,28.83,26.33,25.37
$GC,6715,1.46,214.2,2731,2294,1758,1813,195.3,9.1,367,6724,0.00,0.00,6.90,0.708,8198,0.000,0.000,2731,2294,1766,1738,1794,0,0,0,0,0,0,28.83,28.83,25.55
$GC,7016,1.49,225.3,2730,2293,1735,1788,168.3,8.9,382,7033,0.00,2.28,12.07,0.684,8708,0.000,0.044,2742,893,1716,1685,1748,0,0,0,0,0,0,28.83,26.25,25.57
$GC,7128,1.51,231.3,2742,893,1684,1744,158.5,9.0,387,7140,0.00,2.10,4.65,0.634,9222,0.000,0.018,2742,2302,1696,1665,1728,0,0,0,0,0,0,28.83,26.37,25.29
$GC,7448,1.53,240.1,2742,2302,1665,1728,129.7,8.9,403,7465,0.00,2.12,10.68,0.662,8452,0.000,0.034,2742,3688,1656,1613,1699,0,0,0,0,0,0,28.83,26.27,25.58
$GC,7530,1.55,248.1,1736,3688,1573,1690,123.7,9.0,406,7543,0.00,2.12,8.00,0.656,9222,0.000,0.026,2751,2301,1626,1578,1674,0,0,0,0,0,0,28.83,26.30,25.51
$GC,7865,1.55,248.1,2751,2301,1577,1668,91.7,9.4,423,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2300,1622,1577,1668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8165,1.57,257.7,2751,2301,1577,1665,65.0,8.9,438,8181,0.00,2.20,9.88,0.594,8708,0.000,0.042,2762,890,1584,1533,1636,0,0,0,0,0,0,28.83,26.32,25.68
$GC,8331,1.59,266.8,2762,890,1532,1631,51.2,8.9,445,8346,0.00,2.10,9.27,0.581,9222,0.000,0.018,2762,2308,1550,1498,1602,0,0,0,0,0,0,28.83,26.46,25.63
$GC,8654,1.62,275.6,1728,2305,1463,1589,20.9,8.9,480,8670,0.00,2.22,9.12,0.554,8708,0.000,0.039,2772,897,1511,1458,1564,0,0,0,0,0,0,28.83,26.30,25.68
$GC,8708,1.64,284.3,2772,897,1458,1562,15.9,8.9,488,8725,0.00,2.08,8.73,0.550,9222,0.000,0.017,2772,2301,1477,1425,1529,0,0,0,0,0,0,28.83,26.39,25.60
$STATE,8855,end climb,SURFACE_DEPTH_REACHED
$STATE,8855,begin surface coast
$FINISH,0.0,1.024633
$STATE,8889,end surface coast,CONTROL_FINISHED_OK
$STATE,8889,begin surface
$SM_CCo,8907,217.73,0.692,2,0,399,549.47
$SM_CCo,9138,-0.10,0.000,0,0,401,549.47
$SM_CCo,9142,0.57,0.116,0,0,401,549.47
$SM_GC,-23.93,7.55,0.52,0.57,0.070,0.034,0.116,82,1959,401,-10.57,1.10,549.47,0,0,0,0,0,0,26.34,26.38,25.12
$IRIDIUM_FIX,2108.69,12012.22,280313,232303
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.95
$INTERNAL_PRESSURE,9.18503
$TCM_TEMP,17.50
$XPDR_PINGS,0
$SC_FREEKB,3936896
$24V_AH,24.3,37.551
$10V_AH,10.1,19.675
$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,17.150,56.175,408.825,218.300,0.000,0.000,0.000,261.150,0.000,0.000,22.390,1978.395,4911.543,732.531,1560.512,392.731,0.000,1833.630,0.000,1326.832,0.000,1.487,0.000
$DEVICE_MAMPS,208.080,45.900,902.700,691.560,0.000,0.000,0.000,134.640,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8910.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.465,0.000,0.000,0.000
$MEM,324444
$DATA_FILE_SIZE,16750,520
$CAP_FILE_SIZE,382760,1996
$CFSIZE,260034560,225132544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.251,321.2,1
$GPS,290313,050028,2117.610,12007.293,66,0.9,66,-2.9