version: 66.11
glider: 130
mission: 19
dive: 17
start: 12 19 113 10 4 41
data:
$ID,130
$MISSION,19
$DIVE,17
$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,75
$T_MISSION,80
$T_ABORT,1440
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,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,90
$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,220
$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,-118571.28
$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,2993
$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,2
$ALTIM_SENSITIVITY,5
$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
$GPS1,191213,095543,4742.903,-12225.005,10,1.5,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-61.9
$GPS2,191213,100413,4742.813,-12225.055,10,1.7,10,18.2
$SPEED_LIMITS,0.114,0.200
$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,350.8,2037,-18.1,-8.000,-21.82,1655
$D_GRID,180
$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,-1.40,-88.0,646,1785,1208,1084,0.0,0.0,0,50,0.00,0.00,-32.50,0.000,16386,0.000,0.000,647,1785,2146,2182,2111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-1.40,-88.0,647,1785,2182,2111,2.6,-5.0,6,78,11.80,2.65,-6.38,0.000,18948,0.167,0.082,2678,383,2409,2465,2354,0,0,0,0,0,0,24.37,24.46,24.80
$GC,207,-1.40,-88.0,2677,383,2464,2355,21.6,-13.8,35,213,0.00,2.45,0.00,0.000,1030,0.000,0.039,2677,1829,2410,2465,2355,0,0,0,0,0,0,28.83,24.63,28.83
$GC,278,-1.40,-88.0,2677,1829,2465,2354,29.8,-11.7,48,283,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1830,2409,2465,2354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,346,-1.40,-88.0,2677,1829,2465,2355,36.9,-10.4,61,353,0.00,2.62,0.00,0.000,516,0.000,0.067,2678,378,2409,2465,2354,0,0,0,0,0,0,28.83,24.56,28.83
$GC,400,-1.40,-88.0,1664,378,2397,2344,43.2,-12.6,71,406,0.00,2.45,0.00,0.000,1030,0.000,0.038,2677,1832,2410,2465,2355,0,0,0,0,0,0,28.83,24.65,28.83
$GC,469,-1.40,-88.0,2677,1831,2465,2355,51.4,-11.4,84,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1832,2410,2465,2355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,598,-1.40,-88.0,2677,1832,2465,2355,65.9,-11.4,109,604,0.00,2.60,0.00,0.000,516,0.000,0.067,2677,383,2410,2465,2355,0,0,0,0,0,0,28.83,24.59,28.83
$GC,667,-1.40,-88.0,2677,384,2465,2355,74.7,-13.2,122,674,0.00,2.45,0.00,0.000,1030,0.000,0.038,2677,1842,2410,2465,2355,0,0,0,0,0,0,28.83,24.68,28.83
$GC,796,-1.40,-88.0,1648,1840,2396,2344,87.8,-8.5,147,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1841,2410,2465,2355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,925,-1.40,-88.0,2677,1841,2465,2355,99.6,-8.6,172,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1841,2410,2465,2355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1058,-1.40,-88.0,2677,1842,2465,2355,112.1,-10.7,197,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1842,2410,2465,2355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1190,-1.40,-88.0,2677,1843,2465,2355,127.9,-11.8,222,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1842,2410,2465,2355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1320,-1.40,-88.0,2677,1843,2464,2355,141.2,-9.1,247,1327,0.00,2.62,0.00,0.000,516,0.000,0.067,2677,383,2410,2465,2355,0,0,0,0,0,0,28.83,24.65,28.83
$GC,1458,-1.40,-88.0,2677,382,2465,2355,157.1,-12.7,273,1464,0.00,2.42,0.00,0.000,1030,0.000,0.039,2677,1830,2410,2465,2355,0,0,0,0,0,0,28.83,24.75,28.83
$GC,1589,-1.40,-88.0,2677,1831,2465,2355,172.1,-11.1,298,1596,0.00,2.60,0.00,0.000,516,0.000,0.067,2677,381,2410,2465,2355,0,0,0,0,0,0,28.83,24.66,28.83
$GC,1649,-1.40,-88.0,2677,381,2465,2355,177.8,-9.5,309,1655,0.00,2.45,0.00,0.000,1030,0.000,0.040,2677,1840,2410,2465,2355,0,0,0,0,0,0,28.83,24.75,28.83
$STATE,1676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1676,begin apogee
$GC,1683,-0.36,0.0,2677,1726,2465,2355,180.3,-8.3,314,1760,1.15,0.05,67.60,0.485,10246,0.107,0.078,2906,1771,2048,2126,1971,0,0,0,0,0,0,24.64,24.17,23.85
$STATE,1761,end apogee,CONTROL_FINISHED_OK
$STATE,1761,begin climb
$GC,1763,1.40,88.0,2906,1770,2126,1971,182.5,0.0,328,1841,1.85,2.67,67.78,0.476,10756,0.083,0.069,3296,333,1689,1772,1607,0,0,0,0,0,0,24.32,24.16,23.83
$GC,1879,1.40,88.0,3296,333,1772,1607,174.5,10.7,349,1886,0.00,2.47,0.00,0.000,1030,0.000,0.039,3296,1786,1689,1772,1606,0,0,0,0,0,0,28.83,24.46,28.83
$GC,2010,1.40,88.0,3296,1787,1772,1603,162.0,8.2,374,2017,0.00,2.65,0.00,0.000,516,0.000,0.070,3296,337,1687,1772,1603,0,0,0,0,0,0,28.83,24.46,28.83
$GC,2125,1.40,88.0,3296,337,1772,1603,149.7,10.8,396,2131,0.00,2.45,0.00,0.000,1030,0.000,0.039,3297,1780,1687,1772,1602,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2256,1.40,88.0,3296,1780,1772,1601,136.6,9.8,421,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1780,1686,1772,1601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2384,1.40,88.0,3296,1780,1772,1601,123.1,10.9,446,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1780,1686,1772,1601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2513,1.40,88.0,3296,1780,1772,1601,108.7,11.7,471,2519,0.00,2.40,0.00,0.000,260,0.000,0.047,3296,3179,1686,1772,1601,0,0,0,0,0,0,28.83,24.60,28.83
$GC,2543,1.40,90.1,3296,3179,1772,1600,106.1,7.9,476,2549,0.00,2.53,0.00,0.000,1030,0.000,0.049,3296,1735,1685,1771,1600,0,0,0,0,0,0,28.83,24.60,28.83
$GC,2674,1.41,96.9,3296,1735,1771,1600,95.6,7.6,501,2687,0.00,2.62,7.62,0.362,8708,0.000,0.070,3296,337,1654,1741,1568,0,0,0,0,0,0,28.83,24.46,24.16
$GC,2730,1.41,96.9,3296,337,1741,1568,90.9,8.9,511,2736,0.00,2.45,0.00,0.000,1030,0.000,0.038,3296,1783,1654,1741,1568,0,0,0,0,0,0,28.83,24.62,28.83
$GC,2862,1.43,109.3,3296,1783,1741,1568,81.6,7.2,536,2880,0.00,2.42,11.10,0.382,8452,0.000,0.047,3297,3182,1603,1692,1515,0,0,0,0,0,0,28.83,24.48,24.13
$GC,2994,1.43,109.3,3296,3180,1692,1515,69.4,10.2,561,3001,0.00,2.53,0.00,0.000,1030,0.000,0.050,3295,1737,1603,1692,1514,0,0,0,0,0,0,28.83,24.60,28.83
$GC,3124,1.43,109.3,3296,1737,1691,1514,55.1,11.3,586,3130,0.00,2.55,0.00,0.000,516,0.000,0.070,3296,336,1602,1691,1514,0,0,0,0,0,0,28.83,24.56,28.83
$GC,3208,1.43,109.3,2304,336,1647,1509,43.7,14.2,602,3214,0.00,2.45,0.00,0.000,1030,0.000,0.039,3296,1787,1602,1691,1514,0,0,0,0,0,0,28.83,24.68,28.83
$GC,3277,1.43,109.3,3296,1787,1691,1514,35.0,11.9,615,3284,0.00,2.65,0.00,0.000,516,0.000,0.070,3296,329,1603,1692,1514,0,0,0,0,0,0,28.83,24.58,28.83
$GC,3428,1.43,109.3,3296,329,1691,1514,17.1,11.7,644,3435,0.00,2.45,0.00,0.000,1030,0.000,0.039,3296,1785,1602,1691,1514,0,0,0,0,0,0,28.83,24.70,28.83
$GC,3498,1.43,109.3,3296,1785,1691,1514,10.1,9.3,657,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1785,1603,1692,1514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3567,1.43,109.3,3296,1785,1691,1514,4.1,9.3,670,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1785,1602,1691,1514,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3582,end climb,SURFACE_DEPTH_REACHED
$STATE,3582,begin surface coast
$FINISH,0.4,1.005340
$STATE,3619,end surface coast,CONTROL_FINISHED_OK
$STATE,3619,begin surface
$SM_CCo,3640,65.70,0.284,1,0,1153,220.03
$SM_GC,1.30,11.68,0.00,65.70,0.035,0.000,0.284,647,1785,1153,-10.74,-0.42,220.03,0,0,0,0,1,0,24.70,28.83,23.98
$IRIDIUM_FIX,4729.30,-12242.77,191213,080817
$TT8_MAMPS,0.023968,0.023968
$HUMID,32.31
$INTERNAL_PRESSURE,8.96672
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,23.8,1.106
$10V_AH,10.4,0.951
$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,26.475,60.900,154.100,65.700,0.000,29.356,42.579,315.414,4.250,0.000,12.351,1531.472,764.227,361.221,1391.188,177.125,0.000,908.257,0.000,982.996,0.000,27.642,0.000
$DEVICE_MAMPS,166.770,227.205,485.010,283.815,0.000,57.370,160.000,223.000,420.000,0.000,29.210,11.220,2.190,11.220,36.680,42.670,0.000,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,484.635,311.263,514.414,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,5.990,68.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353964
$DATA_FILE_SIZE,30207,680
$CAP_FILE_SIZE,78225,0
$CFSIZE,260165632,257859584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,191213,110733,4742.750,-12225.347,8,5.1,28,18.2