version: 66.11
glider: 121
mission: 10
dive: 227
start: 3 29 113 7 50 22
data:
$ID,121
$MISSION,10
$DIVE,227
$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,-100781.34
$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,36
$R_STBD_OVSHOOT,54
$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
$GPS1,290313,074235,2119.067,12008.568,20,1.0,20,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-63.0
$GPS2,290313,074955,2119.083,12008.545,30,0.8,31,-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,30.6,100057,-18.5,-9.259,-21.12,2828
$D_GRID,2779
$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,-170.3,85,1966,338,465,0.0,0.0,0,44,0.00,0.00,-23.55,0.000,16386,0.000,0.000,85,1966,1015,1005,1026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,85,1966,1005,1027,3.0,-9.0,3,165,7.80,2.28,-100.30,0.000,18948,0.209,0.054,2110,563,3337,3242,3432,0,0,0,0,0,0,25.77,26.16,26.51
$GC,260,-1.35,-170.3,1248,562,3217,3429,22.6,-9.0,35,268,0.00,2.08,0.00,0.000,1030,0.000,0.015,2101,1988,3338,3245,3432,0,0,0,0,0,0,28.83,26.33,28.83
$GC,589,-1.35,-170.3,2101,1989,3248,3432,52.7,-9.3,68,595,0.00,2.05,0.00,0.000,260,0.000,0.031,2090,3363,3340,3248,3432,0,0,0,0,0,0,28.83,26.41,28.83
$GC,809,-1.35,-170.3,2091,3363,3251,3432,72.0,-9.2,78,816,0.00,2.10,0.00,0.000,1030,0.000,0.025,2092,1957,3341,3251,3432,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1130,-1.35,-170.3,2092,1957,3253,3432,101.6,-9.1,94,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1957,3342,3252,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1431,-1.35,-170.3,2092,1956,3253,3432,128.9,-9.4,109,1437,0.00,2.10,0.00,0.000,516,0.000,0.039,2102,565,3342,3253,3432,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1515,-1.35,-170.3,2102,565,3253,3432,135.1,-9.0,112,1523,0.00,2.03,0.00,0.000,1030,0.000,0.015,2094,1984,3342,3253,3432,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1821,-1.35,-170.3,2093,1984,3253,3431,164.1,-9.0,128,1827,0.00,2.17,0.00,0.000,516,0.000,0.039,2102,569,3341,3253,3430,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1881,-1.35,-170.3,2102,569,3253,3430,168.3,-8.7,130,1889,0.00,2.03,0.00,0.000,1030,0.000,0.015,2094,1980,3341,3253,3430,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2189,-1.35,-170.3,2093,1980,3253,3426,196.8,-9.0,146,2195,0.00,2.03,0.00,0.000,260,0.000,0.031,2084,3353,3339,3253,3426,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2308,-1.35,-170.3,2083,3353,3253,3423,206.6,-9.0,151,2314,0.00,2.08,0.00,0.000,1030,0.000,0.026,2085,1971,3338,3253,3423,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2623,-1.35,-170.3,2085,1970,3253,3421,236.1,-9.1,167,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1970,3337,3253,3421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2925,-1.35,-170.3,2085,1970,3253,3416,262.7,-9.0,182,2931,0.00,2.15,0.00,0.000,516,0.000,0.044,2095,571,3334,3253,3416,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2955,-1.35,-170.3,2095,571,3253,3415,265.1,-8.9,183,2960,0.00,2.03,0.00,0.000,1030,0.000,0.016,2087,1974,3334,3253,3415,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3274,-1.35,-170.3,2087,1975,3251,3412,294.0,-9.0,199,3281,0.00,2.17,0.00,0.000,516,0.000,0.043,2095,572,3331,3251,3412,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3327,-1.35,-170.3,2095,572,3251,3411,298.2,-9.2,201,3333,0.00,2.03,0.00,0.000,1030,0.000,0.016,2087,1974,3330,3250,3411,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3647,-1.35,-170.3,2086,1974,3248,3408,327.4,-8.9,217,3653,0.00,2.08,0.00,0.000,260,0.000,0.034,2076,3360,3328,3248,3408,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3738,-1.35,-170.3,2076,3360,3248,3407,335.4,-9.0,221,3746,0.12,2.10,0.00,0.000,3078,0.149,0.029,2110,1972,3327,3247,3407,0,0,0,0,0,0,26.37,26.58,28.83
$GC,4060,-1.35,-170.3,2110,1971,3244,3405,364.8,-9.0,237,4066,0.00,2.12,0.00,0.000,260,0.000,0.034,2102,3363,3324,3244,3404,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4137,-1.35,-170.3,2102,3363,3243,3404,370.8,-9.1,240,4144,0.00,2.10,0.00,0.000,1030,0.000,0.029,2109,1978,3323,3243,3404,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,4451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4451,begin apogee
$GC,4457,-0.25,0.0,2109,2305,3242,3401,400.9,-8.8,256,4611,0.73,0.00,146.02,0.885,10246,0.112,0.000,2348,2306,2633,2585,2681,0,0,0,0,0,0,26.32,28.83,24.48
$STATE,4612,end apogee,CONTROL_FINISHED_OK
$STATE,4612,begin climb
$GC,4615,1.35,170.3,2347,2307,2584,2678,388.4,0.0,262,4774,0.98,2.30,149.85,0.862,10500,0.057,0.034,2698,3683,1937,1907,1968,0,0,0,0,0,0,25.28,25.00,24.32
$GC,5014,1.37,176.1,2697,3683,1904,1947,351.7,9.0,280,5023,0.00,2.15,0.00,0.000,1030,0.000,0.026,2708,2295,1925,1904,1947,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5322,1.39,186.3,2707,2295,1904,1944,322.8,8.9,296,5346,0.00,2.22,13.07,0.806,8452,0.000,0.033,2707,3679,1871,1848,1894,0,0,0,0,0,0,28.83,26.10,25.34
$GC,5446,1.41,192.7,2708,3679,1847,1889,312.9,9.0,301,5455,0.00,2.12,3.20,0.500,9222,0.000,0.025,2717,2296,1854,1831,1877,0,0,0,0,0,0,28.83,26.20,25.09
$GC,5754,1.42,198.2,2717,2296,1831,1877,283.7,9.1,317,5770,0.00,2.22,8.48,0.760,8452,0.000,0.033,2717,3687,1827,1802,1853,0,0,0,0,0,0,28.83,26.25,25.47
$GC,5884,1.44,204.6,2717,3686,1802,1850,271.9,9.0,323,5896,0.00,2.12,7.20,0.750,9222,0.000,0.026,2726,2299,1804,1777,1831,0,0,0,0,0,0,28.83,26.30,25.43
$GC,6210,1.45,207.2,2727,2300,1774,1823,242.5,9.2,339,6216,0.00,2.20,0.00,0.000,516,0.000,0.044,2738,889,1798,1774,1823,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6312,1.46,212.3,2738,889,1773,1823,234.7,9.1,343,6326,0.00,2.10,8.18,0.724,9222,0.000,0.018,2738,2304,1771,1743,1800,0,0,0,0,0,0,28.83,26.46,25.55
$GC,6648,1.49,223.1,2738,2304,1741,1793,203.4,8.9,360,6665,0.00,0.00,11.38,0.707,8198,0.000,0.000,2738,2304,1725,1695,1755,0,0,0,0,0,0,28.83,28.83,25.56
$GC,6966,1.53,240.9,2738,2304,1694,1748,175.0,8.6,376,6990,0.00,2.33,17.23,0.679,8708,0.000,0.042,2747,900,1653,1610,1696,0,0,0,0,0,0,28.83,26.15,25.53
$GC,7025,1.55,250.8,2748,900,1607,1694,170.6,8.9,378,7040,0.00,2.10,9.98,0.675,9222,0.000,0.018,2748,2302,1616,1569,1663,0,0,0,0,0,0,28.83,26.26,25.42
$GC,7335,1.56,251.2,2748,2302,1565,1653,142.1,9.2,394,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2302,1609,1565,1653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7636,1.57,256.6,2748,2302,1562,1652,115.0,9.1,409,7643,0.00,0.00,4.25,0.562,8198,0.000,0.000,2748,2303,1592,1545,1640,0,0,0,0,0,0,28.83,28.83,25.40
$GC,7935,1.57,256.6,2748,2303,1544,1640,87.9,9.3,424,7941,0.00,2.22,0.00,0.000,516,0.000,0.042,2758,892,1592,1544,1641,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8066,1.58,261.0,2757,891,1544,1640,76.1,9.1,430,8077,0.00,2.08,4.88,0.573,9222,0.000,0.017,2758,2304,1575,1525,1626,0,0,0,0,0,0,28.83,26.53,25.48
$GC,8381,1.58,261.0,2757,2304,1525,1626,47.6,9.6,446,8387,0.00,2.10,0.00,0.000,260,0.000,0.036,2758,3688,1575,1525,1626,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8443,1.59,266.6,2758,3688,1525,1627,42.3,9.1,451,8457,0.00,2.12,7.65,0.550,9222,0.000,0.028,2767,2293,1551,1498,1604,0,0,0,0,0,0,28.83,26.48,25.73
$GC,8773,1.61,274.4,1728,2290,1465,1592,11.7,9.0,495,8790,0.00,2.25,8.75,0.521,8708,0.000,0.042,2778,890,1516,1462,1570,0,0,0,0,0,0,28.83,26.38,25.75
$STATE,8867,end climb,SURFACE_DEPTH_REACHED
$STATE,8868,begin surface coast
$FINISH,1.0,1.023501
$STATE,8891,end surface coast,CONTROL_FINISHED_OK
$STATE,8891,begin surface
$SM_CCo,8910,195.95,0.631,1,0,399,549.47
$SM_CCo,9113,-0.32,0.000,0,0,401,549.47
$SM_CCo,9118,0.55,0.067,0,0,400,549.47
$SM_GC,-23.93,7.50,1.65,0.55,0.069,0.015,0.067,89,1992,400,-10.54,-1.55,549.47,0,0,0,0,0,0,26.40,26.52,25.30
$IRIDIUM_FIX,2111.01,12005.06,290313,050524
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.38
$INTERNAL_PRESSURE,9.21433
$TCM_TEMP,20.60
$XPDR_PINGS,0
$SC_FREEKB,3936128
$24V_AH,24.3,37.835
$10V_AH,10.1,19.803
$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,17.125,72.475,400.100,196.500,0.000,0.000,0.000,232.750,0.000,0.000,32.438,2070.675,4701.123,724.056,1625.368,412.424,0.000,1851.370,0.000,1402.942,0.000,1.488,0.000
$DEVICE_MAMPS,208.845,54.315,885.105,631.125,0.000,0.000,0.000,133.110,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8911.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.489,0.000,0.000,0.000
$MEM,324376
$DATA_FILE_SIZE,16807,515
$CAP_FILE_SIZE,403221,2158
$CFSIZE,260034560,224886784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.219, 45.3,1
$GPS,290313,102334,2120.580,12009.744,34,0.8,34,-2.9