version: 66.11
glider: 130
mission: 19
dive: 8
start: 12 19 113 1 5 37
data:
$ID,130
$MISSION,19
$DIVE,8
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,4
$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,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51967
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0028580001
$HD_B,0.0089408001
$HD_C,1.6100001e-05
$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,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-118559.87
$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,2998
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,240
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2050
$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
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,-9.3370571
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.89999998
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,131
$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,0.004404821
$SEABIRD_T_H,0.00064488029
$SEABIRD_T_I,2.8507879e-05
$SEABIRD_T_J,3.3644449e-06
$SEABIRD_C_G,-9.8029137
$SEABIRD_C_H,1.1050078
$SEABIRD_C_I,-0.0015785076
$SEABIRD_C_J,0.00020331096
$GPS1,191213,005213,4742.723,-12225.375,11,1.2,11,18.2
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-68.2
$GPS2,191213,010509,4742.683,-12225.517,13,1.4,27,18.2
$SPEED_LIMITS,0.143,0.271
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$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,3.4,2424,-16.8,-10.000,-20.27,2205
$D_GRID,100
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-146.6,645,1790,1286,1172,0.0,0.0,0,45,0.00,0.00,-27.08,0.000,16386,0.000,0.000,645,1790,2048,2085,2011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-1.38,-146.6,645,1790,2085,2010,2.1,-3.8,5,82,11.65,0.00,-15.40,0.000,18438,0.160,0.000,2686,1791,2649,2702,2597,0,0,0,0,0,0,24.39,28.83,24.85
$GC,145,-1.38,-146.6,2686,1791,2702,2598,11.7,-11.3,23,152,0.00,2.50,0.00,0.000,260,0.000,0.053,2686,3224,2650,2702,2598,0,0,0,0,0,0,28.83,24.58,28.83
$GC,205,-1.38,-146.6,2686,3224,2702,2598,18.5,-11.4,34,211,0.00,2.53,0.00,0.000,1030,0.000,0.052,2686,1788,2650,2702,2598,0,0,0,0,0,0,28.83,24.60,28.83
$GC,274,-1.38,-146.6,2686,1788,2702,2598,26.7,-12.2,47,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1787,2650,2702,2598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,343,-1.38,-146.6,2686,1788,2702,2598,34.9,-11.9,60,348,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1787,2649,2701,2598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,411,-1.38,-146.6,2686,1787,2702,2598,43.4,-12.2,73,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1788,2650,2702,2598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,481,-1.38,-146.6,2686,1787,2702,2598,52.4,-12.8,86,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1788,2649,2702,2597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,609,-1.38,-146.6,2686,1788,2701,2598,69.6,-13.1,111,616,0.00,2.55,0.00,0.000,516,0.000,0.071,2686,379,2650,2702,2598,0,0,0,0,0,0,28.83,24.60,28.83
$GC,699,-1.38,-146.6,2685,379,2702,2598,83.0,-14.4,128,705,0.00,2.45,0.00,0.000,1030,0.000,0.041,2686,1831,2650,2702,2598,0,0,0,0,0,0,28.83,24.70,28.83
$GC,828,-1.38,-146.6,2686,1831,2702,2598,99.3,-12.5,153,834,0.00,2.40,0.00,0.000,260,0.000,0.051,2686,3225,2650,2702,2598,0,0,0,0,0,0,28.83,24.68,28.83
$STATE,842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,842,begin apogee
$GC,850,-0.36,0.0,2686,1743,2702,2598,100.9,-11.5,155,969,1.15,0.00,109.62,0.438,10246,0.111,0.000,2913,1743,2050,2129,1971,0,0,0,0,0,0,24.60,28.83,23.91
$STATE,970,end apogee,CONTROL_FINISHED_OK
$STATE,970,begin climb
$GC,973,1.38,146.6,2913,1743,2129,1971,106.3,0.0,177,1091,1.80,0.00,110.97,0.429,10246,0.080,0.000,3297,1743,1451,1539,1363,0,0,0,0,0,0,24.34,28.83,23.89
$GC,1215,1.38,146.6,3296,1743,1539,1359,86.9,11.1,223,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1743,1449,1539,1359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1344,1.38,146.6,3297,1743,1539,1358,72.8,10.4,248,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1743,1448,1539,1358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1472,1.38,146.6,3296,1743,1539,1357,58.9,10.6,273,1479,0.00,2.58,0.00,0.000,516,0.000,0.073,3296,337,1448,1539,1357,0,0,0,0,0,0,28.83,24.51,28.83
$GC,1547,1.38,146.6,3296,337,1539,1357,49.7,12.4,287,1554,0.00,2.47,0.00,0.000,1030,0.000,0.041,3297,1779,1448,1539,1357,0,0,0,0,0,0,28.83,24.61,28.83
$GC,1617,1.38,146.6,3296,1780,1539,1357,41.7,11.2,300,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1780,1447,1538,1357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1685,1.38,146.6,3296,1780,1539,1357,34.1,11.4,313,1692,0.00,2.65,0.00,0.000,516,0.000,0.072,3296,331,1448,1539,1357,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1720,1.38,146.6,3296,331,1539,1357,29.8,12.6,319,1726,0.00,2.45,0.00,0.000,1030,0.000,0.041,3297,1779,1447,1539,1356,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1789,1.38,146.6,3296,1779,1539,1356,21.4,12.0,332,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1779,1447,1539,1356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1857,1.38,146.6,2304,1777,1502,1353,14.2,10.2,345,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1778,1447,1539,1356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1927,1.38,146.6,3296,1779,1539,1357,6.7,10.3,358,1933,0.00,2.42,0.00,0.000,260,0.000,0.051,3296,3182,1447,1539,1356,0,0,0,0,0,0,28.83,24.63,28.83
$STATE,1959,end climb,SURFACE_DEPTH_REACHED
$STATE,1959,begin surface coast
$FINISH,0.4,1.023073
$STATE,1985,end surface coast,CONTROL_FINISHED_OK
$STATE,1985,begin surface
$SM_CCo,2009,30.95,0.054,0,0,1233,200.16
$SM_GC,1.06,11.68,2.50,30.95,0.035,0.054,0.054,648,1791,1233,-10.75,0.51,200.16,0,0,0,0,0,0,24.67,24.63,24.60
$IRIDIUM_FIX,4716.56,-12357.33,191213,000046
$TT8_MAMPS,0.024717,0.024717
$HUMID,32.91
$INTERNAL_PRESSURE,8.97648
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.9,9.7
$24V_AH,23.9,0.607
$10V_AH,10.3,0.589
$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,26.275,30.150,220.600,30.950,0.000,47.939,91.312,432.917,0.500,0.000,29.271,790.046,437.004,327.834,1150.734,120.988,0.000,670.545,0.000,540.121,0.000,6.044,0.000
$DEVICE_MAMPS,159.885,73.440,438.345,53.550,0.000,57.370,160.000,223.000,420.000,0.000,29.210,11.220,2.190,11.220,36.680,42.670,0.000,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,263.244,192.073,323.279,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,5.990,68.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353980
$DATA_FILE_SIZE,16866,369
$CAP_FILE_SIZE,51112,0
$CFSIZE,260165632,258220032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191213,014035,4742.922,-12225.370,9,2.0,25,18.2