version: 66.11
glider: 130
mission: 24
dive: 2
start: 2 19 115 18 40 15
data:
$ID,130
$MISSION,24
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,500
$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,51861
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0021100601
$HD_B,0.0121726
$HD_C,2.7118101e-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,300
$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,10
$CALL_WAIT,45
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-172063.98
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,600
$PITCH_MAX,3702
$C_PITCH,2615
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,240
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,1970
$C_ROLL_CLIMB,1970
$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,2300
$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,2
$AH0_24V,92
$AH0_10V,97
$MINV_24V,18
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-10.099391
$PRESSURE_SLOPE,0.0001159091
$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,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$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
$DEVICE2,101
$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,0.0044035749
$SEABIRD_T_H,0.00064291171
$SEABIRD_T_I,2.7386095e-05
$SEABIRD_T_J,3.1457723e-06
$SEABIRD_C_G,-9.7818193
$SEABIRD_C_H,1.0996603
$SEABIRD_C_I,-0.00026411601
$SEABIRD_C_J,0.00011607879
$GPS1,190215,183212,4743.062,-12223.962,12,1.7,12,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-61.2
$GPS2,190215,183919,4743.044,-12223.925,13,1.8,13,18.2
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.126,0.203
$KALMAN_X,97.5,97.5,97.5,70.7,248.6
$KALMAN_Y,-44.5,-44.5,-44.5,168.8,-113.4
$MHEAD_RNG_PITCHd_Wd,309.9,2790,-16.9,-10.000,-22.72,2236
$D_GRID,165
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.31,-146.6,600,1987,578,415,0.0,0.0,0,84,0.00,0.00,-65.12,0.000,16386,0.000,0.000,600,1988,2373,2403,2343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.31,-146.6,600,1988,2404,2342,2.0,-5.2,12,118,9.75,2.58,-13.68,0.000,18948,0.156,0.067,2323,543,2896,2944,2848,0,0,0,0,0,0,24.32,24.46,24.83
$GC,232,-1.31,-146.6,2323,543,2945,2848,21.2,-13.6,39,239,0.00,2.45,0.00,0.000,1030,0.000,0.037,2323,1988,2897,2946,2848,0,0,0,0,0,0,28.83,24.56,28.83
$GC,362,-1.31,-146.6,2323,1988,2945,2848,37.0,-13.1,64,369,0.00,2.42,0.00,0.000,260,0.000,0.054,2323,3386,2897,2946,2848,0,0,0,0,0,0,28.83,24.53,28.83
$GC,433,-1.31,-146.6,2323,3387,2946,2848,46.0,-11.6,77,439,0.00,2.45,0.00,0.000,1030,0.000,0.041,2323,1958,2897,2946,2848,0,0,0,0,0,0,28.83,24.58,28.83
$GC,564,-1.31,-146.6,2323,1958,2946,2848,60.8,-11.8,102,570,0.00,2.53,0.00,0.000,260,0.000,0.052,2323,3392,2896,2945,2848,0,0,0,0,0,0,28.83,24.56,28.83
$GC,734,-1.31,-146.6,2323,3392,2945,2848,80.9,-11.5,135,741,0.00,2.45,0.00,0.000,1030,0.000,0.041,2323,1956,2896,2945,2848,0,0,0,0,0,0,28.83,24.60,28.83
$GC,926,-1.31,-146.6,2323,1956,2945,2848,104.1,-11.1,172,932,0.00,2.47,0.00,0.000,516,0.000,0.058,2323,543,2896,2945,2848,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1089,-1.31,-146.6,2323,543,2945,2848,123.4,-11.6,203,1096,0.00,2.42,0.00,0.000,1030,0.000,0.037,2322,1988,2897,2946,2848,0,0,0,0,0,0,28.83,24.67,28.83
$GC,1280,-1.31,-146.6,2323,1987,2946,2848,143.7,-10.8,240,1286,0.00,2.45,0.00,0.000,260,0.000,0.053,2323,3391,2897,2946,2848,0,0,0,0,0,0,28.83,24.62,28.83
$STATE,1337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1337,begin apogee
$GC,1346,-0.33,0.0,2323,1949,2945,2848,150.2,-11.0,251,1461,1.08,0.08,107.72,0.613,10246,0.116,0.114,2532,1999,2300,2365,2235,0,0,0,0,0,0,24.51,24.11,23.72
$STATE,1464,end apogee,CONTROL_FINISHED_OK
$STATE,1464,begin climb
$GC,1467,1.31,146.6,2532,1999,2365,2235,154.1,0.0,272,1588,1.77,2.62,110.10,0.587,10756,0.093,0.059,2895,547,1701,1778,1625,0,0,0,0,0,0,24.23,24.12,23.71
$GC,1673,1.31,146.6,2895,547,1776,1625,129.9,15.1,310,1679,0.00,2.47,0.00,0.000,1030,0.000,0.037,2895,1991,1699,1775,1624,0,0,0,0,0,0,28.83,24.36,28.83
$GC,1864,1.31,146.6,2895,1991,1775,1619,103.2,13.9,347,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1991,1697,1775,1619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2053,1.31,146.6,1840,1993,1724,1611,75.7,13.6,384,2059,0.00,2.60,0.00,0.000,516,0.000,0.059,2895,543,1696,1775,1618,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2154,1.31,146.6,2895,543,1775,1618,61.1,15.1,403,2160,0.00,2.47,0.00,0.000,1030,0.000,0.038,2895,1994,1696,1775,1618,0,0,0,0,0,0,28.83,24.47,28.83
$GC,2345,1.31,146.6,2895,1994,1775,1617,35.6,11.3,440,2352,0.00,2.45,0.00,0.000,260,0.000,0.053,2895,3396,1695,1775,1616,0,0,0,0,0,0,28.83,24.45,28.83
$GC,2384,1.31,146.6,2895,3396,1775,1615,31.0,10.8,447,2391,0.00,2.50,0.00,0.000,1030,0.000,0.045,2895,1960,1695,1775,1615,0,0,0,0,0,0,28.83,24.48,28.83
$GC,2516,1.31,146.6,2895,1959,1775,1614,16.4,11.9,472,2523,0.00,2.50,0.00,0.000,516,0.000,0.060,2895,546,1694,1775,1614,0,0,0,0,0,0,28.83,24.47,28.83
$GC,2556,1.31,146.6,2895,546,1775,1614,11.3,12.0,479,2562,0.00,2.45,0.00,0.000,1030,0.000,0.037,2895,1988,1694,1775,1614,0,0,0,0,0,0,28.83,24.53,28.83
$STATE,2633,end climb,SURFACE_DEPTH_REACHED
$STATE,2633,begin surface coast
$FINISH,0.2,1.020291
$STATE,2666,end surface coast,CONTROL_FINISHED_OK
$STATE,2666,begin surface
$SM_CCo,2686,83.88,0.053,0,0,1077,300.00
$SM_GC,0.84,10.38,0.00,83.88,0.047,0.000,0.053,601,1989,1077,-9.22,0.51,300.00,0,0,0,0,0,0,24.52,28.83,24.46
$IRIDIUM_FIX,4732.49,-12220.39,190215,181813
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.87
$INTERNAL_PRESSURE,9.1718
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.7,72.0
$24V_AH,23.7,0.302
$10V_AH,10.4,0.192
$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,22.975,44.950,217.825,83.875,0.000,0.000,0.000,0.000,0.750,0.000,15.378,1085.560,511.981,393.410,759.643,86.525,30.074,809.245,0.000,745.182,0.000,7.184,0.000
$DEVICE_MAMPS,156.060,147.645,612.765,52.785,0.000,0.000,0.000,0.000,420.000,0.000,30.710,12.060,2.190,12.060,38.280,45.020,64.490,14.900,0.000,14.980,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,353.525,440.997,444.853,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,11.240,68.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323332
$DATA_FILE_SIZE,33683,500
$CAP_FILE_SIZE,67215,0
$CFSIZE,260165632,259330048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190215,192707,4743.278,-12223.996,9,1.9,9,18.2