version: 66.11
glider: 121
mission: 10
dive: 260
start: 4 2 113 1 41 32
data:
$ID,121
$MISSION,10
$DIVE,260
$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,-100825.17
$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,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
$GPS1,020413,013242,2159.693,12028.136,177,1.3,177,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-63.3
$GPS2,020413,014104,2159.820,12028.067,28,0.8,29,-3.1
$SPEED_LIMITS,0.160,0.240
$TGT_NAME,PICKUP
$TGT_LATLONG,2209.500,12030.330
$TGT_RADIUS,5000.000
$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,18.8,18343,-18.5,-9.259,-21.12,2828
$D_GRID,479
$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,-170.3,82,1947,341,469,0.0,0.0,0,43,0.00,0.00,-23.12,0.000,16386,0.000,0.000,82,1947,1012,1000,1025,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,82,1947,1000,1025,3.2,-8.9,3,161,7.88,2.20,-94.50,0.000,18948,0.210,0.054,2108,576,3336,3244,3428,0,0,0,0,0,0,25.69,26.12,26.47
$GC,202,-1.35,-170.3,1248,576,3219,3425,17.6,-9.2,25,210,0.00,2.08,0.00,0.000,1030,0.000,0.015,2100,1994,3337,3247,3428,0,0,0,0,0,0,28.83,26.26,28.83
$GC,519,-1.35,-170.3,2100,1995,3249,3428,46.1,-9.0,63,525,0.00,2.05,0.00,0.000,260,0.000,0.031,2090,3356,3338,3249,3428,0,0,0,0,0,0,28.83,26.34,28.83
$GC,657,-1.35,-170.3,2089,3356,3250,3428,58.3,-9.1,71,663,0.00,2.08,0.00,0.000,1030,0.000,0.024,2097,1973,3339,3250,3428,0,0,0,0,0,0,28.83,26.41,28.83
$GC,976,-1.35,-170.3,2097,1972,3252,3428,87.4,-9.1,87,983,0.00,2.12,0.00,0.000,516,0.000,0.040,2107,576,3340,3252,3428,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1045,-1.35,-170.3,2106,576,3252,3429,93.6,-9.1,90,1051,0.00,2.03,0.00,0.000,1030,0.000,0.015,2098,1989,3340,3252,3428,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1370,-1.35,-170.3,2098,1990,3252,3428,123.0,-9.3,106,1376,0.00,2.03,0.00,0.000,260,0.000,0.030,2088,3353,3340,3252,3428,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1556,-1.35,-170.3,1280,3352,3226,3425,138.3,-8.8,114,1564,0.00,2.08,0.00,0.000,1030,0.000,0.025,2089,1972,3340,3252,3428,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1865,-1.35,-170.3,2088,1973,3252,3426,167.8,-9.1,130,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,1973,3339,3252,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2165,-1.35,-170.3,2088,1972,3252,3424,194.5,-9.2,145,2171,0.00,2.10,0.00,0.000,260,0.000,0.031,2080,3352,3337,3252,3423,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2201,-1.35,-170.3,2080,3352,3252,3423,196.9,-9.0,146,2208,0.10,2.08,0.00,0.000,3078,0.158,0.026,2107,1970,3337,3252,3423,0,0,0,0,0,0,26.34,26.55,28.83
$GC,2517,-1.35,-170.3,2107,1970,3252,3421,227.1,-9.5,162,2524,0.00,2.15,0.00,0.000,516,0.000,0.044,2118,569,3336,3252,3421,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2547,-1.35,-170.3,2117,570,3252,3421,229.4,-9.4,163,2553,0.00,2.03,0.00,0.000,1030,0.000,0.016,2109,1975,3336,3252,3421,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2868,-1.35,-170.3,2109,1976,3252,3416,258.5,-9.0,179,2873,0.00,2.08,0.00,0.000,260,0.000,0.032,2099,3368,3334,3252,3416,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2970,-1.35,-170.3,2099,3368,3251,3415,266.5,-9.0,183,2978,0.00,2.10,0.00,0.000,1030,0.000,0.028,2099,1975,3333,3252,3415,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3276,-1.35,-170.3,2099,1975,3252,3411,295.3,-9.1,199,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1975,3332,3252,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3580,-1.35,-170.3,2099,1975,3250,3409,322.5,-9.0,214,3585,0.00,2.12,0.00,0.000,260,0.000,0.032,2090,3364,3329,3250,3408,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3610,-1.35,-170.3,2090,3364,3249,3408,325.1,-9.0,215,3616,0.00,2.10,0.00,0.000,1030,0.000,0.028,2090,1978,3328,3249,3408,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3929,-1.35,-170.3,2090,1977,3248,3407,354.6,-9.3,231,3936,0.00,2.17,0.00,0.000,516,0.000,0.045,2099,569,3327,3248,3407,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4054,-1.35,-170.3,2099,569,3247,3407,364.5,-9.0,236,4063,0.00,2.05,0.00,0.000,1030,0.000,0.017,2091,1976,3326,3247,3406,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4362,-1.35,-170.3,2090,1976,3246,3404,393.7,-9.3,252,4368,0.00,2.08,0.00,0.000,260,0.000,0.034,2081,3358,3324,3244,3404,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4413,-1.35,-170.3,2080,3358,3243,3403,397.9,-9.0,254,4421,0.10,2.10,0.00,0.000,3078,0.158,0.030,2106,1974,3323,3243,3404,0,0,0,0,0,0,26.32,26.51,28.83
$STATE,4432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4434,begin apogee
$GC,4439,-0.25,0.0,2105,2300,3243,3403,400.2,-8.9,255,4606,0.73,0.00,153.10,0.989,10246,0.109,0.000,2345,2301,2639,2590,2688,0,0,0,0,1,0,26.20,28.83,24.21
$STATE,4609,end apogee,CONTROL_FINISHED_OK
$STATE,4609,begin climb
$GC,4611,1.35,170.3,2344,2301,2589,2688,385.5,0.0,262,4775,1.00,2.33,154.95,0.848,10500,0.053,0.034,2706,3689,1936,1904,1968,0,0,0,0,0,0,25.17,24.93,24.24
$GC,4937,1.36,174.5,2706,3689,1901,1944,356.4,9.1,276,4946,0.00,2.17,0.00,0.000,1030,0.000,0.025,2716,2296,1922,1901,1944,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5244,1.39,185.1,2716,2296,1901,1940,327.5,8.9,292,5261,0.00,2.30,11.23,0.769,8708,0.000,0.042,2727,886,1879,1856,1902,0,0,0,0,0,0,28.83,26.04,25.30
$GC,5315,1.42,195.4,2727,886,1851,1899,321.4,8.9,295,5333,0.00,2.12,9.57,0.763,9222,0.000,0.018,2726,2305,1838,1813,1863,0,0,0,0,0,0,28.83,26.17,25.20
$GC,5632,1.43,202.5,2726,2305,1811,1854,293.8,9.0,311,5644,0.00,2.25,4.32,0.627,8708,0.000,0.041,2737,893,1813,1788,1838,0,0,0,0,0,0,28.83,26.20,25.16
$GC,5684,1.45,208.5,2737,893,1789,1838,289.5,9.0,313,5704,0.10,2.10,9.57,0.747,13318,0.190,0.018,2716,2304,1784,1756,1812,0,0,0,0,0,0,26.03,26.29,25.34
$GC,6001,1.47,216.2,2715,2305,1755,1807,261.0,9.0,329,6011,0.00,0.00,7.93,0.726,8198,0.000,0.000,2716,2305,1757,1729,1786,0,0,0,0,0,0,28.83,28.83,25.43
$GC,6302,1.48,220.9,2715,2305,1725,1778,234.0,9.1,344,6308,0.00,0.00,3.90,0.581,8198,0.000,0.000,2715,2305,1738,1709,1767,0,0,0,0,0,0,28.83,28.83,25.22
$GC,6602,1.49,227.0,2715,2305,1709,1767,206.9,9.0,359,6619,0.00,2.17,8.32,0.684,8452,0.000,0.037,2715,3683,1710,1677,1743,0,0,0,0,0,0,28.83,26.32,25.53
$GC,6684,1.49,227.0,2715,3683,1676,1741,200.6,9.3,362,6692,0.00,2.12,0.00,0.000,1030,0.000,0.027,2724,2298,1708,1677,1740,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6991,1.51,232.4,2724,2298,1677,1738,171.5,9.1,378,7002,0.00,2.20,4.47,0.597,8708,0.000,0.042,2735,891,1691,1658,1724,0,0,0,0,0,0,28.83,26.34,25.32
$GC,7132,1.54,244.0,1744,891,1621,1717,159.8,8.8,384,7150,0.00,2.10,13.70,0.638,9222,0.000,0.018,2735,2308,1644,1599,1690,0,0,0,0,0,0,28.83,26.46,25.55
$GC,7471,1.54,244.0,2735,2308,1593,1680,127.8,9.3,401,7477,0.00,2.12,0.00,0.000,260,0.000,0.036,2735,3691,1636,1592,1680,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7624,1.55,247.6,2735,3691,1589,1681,114.1,9.1,408,7630,0.00,2.12,0.00,0.000,1030,0.000,0.025,2745,2294,1634,1589,1679,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7945,1.55,250.3,2745,2295,1590,1679,85.2,9.2,424,7956,0.00,2.17,4.53,0.547,8708,0.000,0.044,2755,900,1618,1570,1666,0,0,0,0,0,0,28.83,26.41,25.41
$GC,8023,1.57,255.5,2755,899,1570,1667,78.7,9.1,427,8037,0.00,2.08,7.45,0.581,9222,0.000,0.017,2755,2304,1595,1544,1647,0,0,0,0,0,0,28.83,26.48,25.63
$GC,8336,1.58,262.2,2755,2304,1543,1642,50.0,9.0,443,8350,0.00,2.20,7.10,0.551,8452,0.000,0.036,2755,3694,1567,1514,1621,0,0,0,0,0,0,28.83,26.36,25.66
$GC,8463,1.59,264.3,2755,3694,1514,1618,38.6,9.2,454,8469,0.00,2.12,0.00,0.000,1030,0.000,0.026,2765,2300,1566,1514,1619,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8793,1.59,265.7,1712,2297,1481,1610,8.7,9.2,500,8802,0.00,2.22,3.25,0.393,8452,0.000,0.034,2765,3694,1554,1502,1607,0,0,0,0,0,0,28.83,26.44,25.39
$STATE,8854,end climb,SURFACE_DEPTH_REACHED
$STATE,8854,begin surface coast
$FINISH,0.0,1.023548
$STATE,8889,end surface coast,CONTROL_FINISHED_OK
$STATE,8889,begin surface
$SM_CCo,8909,224.38,0.656,1,0,399,549.47
$SM_CCo,9141,-0.22,0.000,0,0,401,549.47
$SM_CCo,9145,0.57,0.094,0,0,400,549.47
$SM_GC,-23.93,7.47,2.70,0.57,0.067,0.027,0.094,83,1969,400,-10.57,1.07,549.47,0,0,0,0,0,0,26.44,26.45,25.20
$IRIDIUM_FIX,2150.42,12027.93,010413,222233
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.34
$INTERNAL_PRESSURE,9.22409
$TCM_TEMP,20.80
$XPDR_PINGS,0
$SC_FREEKB,3923584
$24V_AH,24.2,42.961
$10V_AH,10.1,21.953
$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,17.375,81.900,403.400,224.950,0.000,0.000,0.000,292.125,0.000,0.000,29.917,2083.991,4622.257,769.467,1678.127,472.382,0.000,1969.096,0.000,1415.329,0.000,1.488,0.000
$DEVICE_MAMPS,209.610,54.315,989.145,656.370,0.000,0.000,0.000,128.520,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8903.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.465,0.000,0.000,0.000
$MEM,324360
$DATA_FILE_SIZE,20070,516
$CAP_FILE_SIZE,410094,2165
$CFSIZE,260034560,221118464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.134,357.4,1
$GPS,020413,041519,2201.281,12028.250,39,0.9,39,-3.1