version: 66.08
glider: 130
mission: 14
dive: 7
start: 12 16 111 2 18 23
data:
$ID,130
$MISSION,14
$DIVE,7
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,60
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51798
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,44.380001
$TGT_DEFAULT_LON,-125.01
$TGT_AUTO_DEFAULT,0
$SM_CC,210
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-106577.47
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,650
$PITCH_MAX,3725
$C_PITCH,2938
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,240
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1985
$HEAD_ERRBAND,30
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,516
$VBD_MAX,3960
$C_VBD,2595
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,92
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-9.7200212
$PRESSURE_SLOPE,0.0001159091
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044015422
$SEABIRD_T_H,0.00063880393
$SEABIRD_T_I,2.4712466e-05
$SEABIRD_T_J,2.5684481e-06
$SEABIRD_C_G,-9.7931423
$SEABIRD_C_H,1.1029133
$SEABIRD_C_I,-0.001068091
$SEABIRD_C_J,0.00016957214
$GPS1,161211,020854,4743.938,-12224.235,14,1.4,36,18.2
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-67.7
$GPS2,161211,021725,4743.922,-12224.210,10,1.3,10,18.2
$SPEED_LIMITS,0.100,0.216
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.152,0.153
$KALMAN_X,240.3,658.1,-18.9,-319.2,-292.8
$KALMAN_Y,-374.2,405.3,-14.8,1800.7,-404.3
$MHEAD_RNG_PITCHd_Wd,2.2,1023,-21.7,-10.000
$D_GRID,180
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.67,-97.7,0.0,0.0,0,65,0.00,0.00,-44.47,0.000,2,0.000,0.000,645,2065,2826,0,0,0,0,0,0
$GC,68,-1.67,-97.7,2.2,-4.0,5,95,10.73,2.53,-4.55,0.000,4,0.151,0.067,2562,3464,2995,0,0,0,0,0,0
$GC,373,-1.64,-97.7,44.6,-14.6,49,383,0.00,2.47,0.00,0.000,6,0.000,0.044,2562,2057,2995,0,0,0,0,0,0
$GC,459,-1.60,-97.7,56.4,-12.9,62,469,0.15,2.55,0.00,0.000,4,0.136,0.062,2587,649,2995,0,0,0,0,0,0
$GC,683,-1.55,-97.7,88.7,-13.9,98,692,0.00,2.42,0.00,0.000,6,0.000,0.038,2587,2055,2996,0,0,0,0,0,0
$GC,845,-1.52,-97.7,108.1,-10.9,123,852,0.00,2.42,0.00,0.000,4,0.000,0.050,2587,3465,2996,0,0,0,0,0,0
$GC,958,-1.52,-97.7,122.2,-12.3,139,965,0.00,2.47,0.00,0.000,6,0.000,0.044,2587,2058,2996,0,0,0,0,0,0
$GC,1115,-1.49,-97.7,141.5,-12.1,164,1125,0.12,0.00,0.00,0.000,6,0.142,0.000,2607,2058,2996,0,0,0,0,0,0
$GC,1273,-1.49,-97.7,159.1,-10.6,189,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2058,2996,0,0,0,0,0,0
$STATE,1425,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1425,begin apogee
$GC,1433,-0.36,0.0,176.4,10.9,214,1523,1.23,0.00,80.97,0.613,6,0.103,0.000,2853,1976,2594,0,0,0,0,0,0
$STATE,1524,end apogee,CONTROL_FINISHED_OK
$STATE,1524,begin climb
$GC,1527,1.67,97.7,179.7,0.0,226,1622,2.12,2.53,84.65,0.591,4,0.076,0.050,3298,3389,2193,0,0,0,0,0,0
$GC,1674,1.62,97.7,167.1,14.1,247,1682,0.00,2.50,0.00,0.000,6,0.000,0.044,3298,1990,2190,0,0,0,0,0,0
$GC,1831,1.58,97.7,144.5,13.4,272,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1990,2187,0,0,0,0,0,0
$GC,1990,1.54,97.7,123.1,13.8,297,1997,0.12,0.00,0.00,0.000,6,0.128,0.000,3276,1991,2187,0,0,0,0,0,0
$GC,2143,1.54,97.7,103.7,11.5,322,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1990,2186,0,0,0,0,0,0
$GC,2301,1.51,97.7,86.1,11.2,347,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1990,2186,0,0,0,0,0,0
$GC,2455,1.49,97.7,68.0,10.7,372,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1990,2186,0,0,0,0,0,0
$GC,2612,1.49,97.7,50.9,11.7,397,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1990,2186,0,0,0,0,0,0
$GC,2782,1.47,97.7,31.6,11.1,422,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1990,2186,0,0,0,0,0,0
$GC,2873,1.47,97.7,21.6,10.2,435,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1990,2185,0,0,0,0,0,0
$GC,2964,1.47,97.7,11.7,11.2,448,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1990,2186,0,0,0,0,0,0
$STATE,3045,end climb,SURFACE_DEPTH_REACHED
$STATE,3045,begin surface coast
$FINISH,0.1,1.009318
$STATE,3082,end surface coast,CONTROL_FINISHED_OK
$STATE,3082,begin surface
$SM_CCo,3105,59.62,0.059,0,0,1738,210.22
$SM_GC,1.13,0.00,0.00,59.62,0.000,0.000,0.059,649,2071,1738,-10.53,0.34,210.22
$IRIDIUM_FIX,4722.92,-12223.37,161211,010130
$TT8_MAMPS,0.024717
$HUMID,31.76
$INTERNAL_PRESSURE,9.34484
$TCM_TEMP,12.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.1,66.1
$24V_AH,23.8,0.460
$10V_AH,10.4,0.550
$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,26.125,20.150,165.625,59.625,0.000,23.544,31.823,279.903,2.000,0.000,12.671,1113.029,247.914,288.016,1609.581,429.003,33.342,745.661,0.000,1493.146,0.000,17.695,0.000
$DEVICE_MAMPS,151.470,92.565,612.765,58.905,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,387.722,212.869,1007.499,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323572
$DATA_FILE_SIZE,27023,465
$CAP_FILE_SIZE,54625,0
$CFSIZE,260165632,24965120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,155.1,1
$GPS,161211,031219,4744.059,-12223.922,12,1.3,29,18.2