version: 66.11
glider: 130
mission: 24
dive: 5
start: 2 19 115 23 7 54
data:
$ID,130
$MISSION,24
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$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,75
$T_MISSION,85
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,12
$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,-172160.48
$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,2617
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16.5
$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,350
$C_ROLL_CLIMB,350
$HEAD_ERRBAND,180
$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,15
$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
$GPS1,190215,225206,4743.281,-12224.668,39,1.2,40,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-66.3
$GPS2,190215,230636,4743.220,-12224.743,11,1.7,16,18.2
$SPEED_LIMITS,0.376,0.386
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.107,0.371
$KALMAN_X,-311.5,21.3,88.0,-440.5,-322.7
$KALMAN_Y,-1452.6,-647.9,-64.8,2533.6,-404.3
$MHEAD_RNG_PITCHd_Wd,357.9,2389,-1.8,-8.000,-11.70,10304
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.47,-293.3,597,348,1122,1015,0.0,0.0,0,62,0.00,0.00,-43.55,0.000,16386,0.000,0.000,597,348,2345,2380,2310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.47,-293.3,597,348,2380,2310,2.2,-6.4,8,112,10.85,0.00,-28.30,0.000,18438,0.155,0.000,2508,349,3496,3556,3437,0,0,0,0,0,0,24.27,28.83,24.73
$GC,236,-0.47,-293.3,2508,349,3557,3437,16.4,-8.6,40,241,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,349,3497,3557,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,365,-0.47,-293.3,2508,349,3557,3437,26.6,-7.4,65,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,349,3497,3557,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,494,-0.47,-293.3,2509,349,3557,3437,36.9,-8.9,90,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,349,3497,3557,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,623,-0.47,-293.3,2509,349,3557,3437,48.7,-9.6,115,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,349,3497,3557,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,752,-0.47,-293.3,2509,349,3557,3437,60.3,-7.7,140,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,349,3497,3557,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,941,-0.47,-293.3,2509,349,3557,3437,76.1,-7.9,177,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,349,3497,3558,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1131,-0.47,-293.3,2509,349,3557,3437,93.6,-8.8,214,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,349,3497,3557,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1321,-0.47,-293.3,2509,349,3558,3437,111.6,-8.7,251,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,349,3497,3558,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1511,-0.47,-293.3,2509,349,3557,3437,127.9,-9.2,288,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,349,3497,3557,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1706,-0.47,-293.3,2509,349,3557,3437,145.4,-9.6,325,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,349,3497,3557,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1896,-0.47,-293.3,2509,349,3558,3437,162.9,-9.5,362,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,349,3497,3557,3437,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2053,begin apogee
$GC,2059,-0.30,0.0,2508,349,3557,3437,180.3,-11.8,393,2284,0.17,0.00,215.90,0.608,10246,0.070,0.000,2555,349,2300,2362,2238,0,0,0,0,0,0,24.68,28.83,23.64
$STATE,2285,end apogee,CONTROL_FINISHED_OK
$STATE,2285,begin climb
$GC,2287,0.47,293.3,2555,348,2361,2238,193.0,0.0,434,2518,0.75,0.00,222.93,0.577,10246,0.073,0.000,2714,348,1104,1180,1028,0,0,0,0,0,0,24.16,28.83,23.62
$GC,2703,0.47,293.3,2714,348,1179,1022,158.3,12.0,512,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,348,1100,1178,1022,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2893,0.47,293.3,2714,348,1178,1021,137.0,11.9,549,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,348,1099,1178,1021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3083,0.47,293.3,2714,348,1178,1021,116.0,9.8,586,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,349,1099,1178,1021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3272,0.47,293.3,2714,348,1178,1021,96.1,11.0,623,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,349,1099,1178,1021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3462,0.47,293.3,2714,348,1178,1021,74.1,11.9,660,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,348,1099,1178,1021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3651,0.47,293.3,2714,348,1178,1021,51.3,13.3,697,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,348,1099,1178,1020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3841,0.47,293.3,2713,348,1178,1020,27.9,11.7,734,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,348,1099,1178,1021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3969,0.47,293.3,2714,348,1178,1020,12.6,10.6,759,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,349,1099,1178,1020,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4095,end climb,SURFACE_DEPTH_REACHED
$STATE,4095,begin surface coast
$FINISH,0.1,1.002146
$STATE,4138,end surface coast,CONTROL_FINISHED_OK
$STATE,4138,begin surface
$SM_CCo,4157,2.20,0.055,0,0,1077,300.00
$SM_GC,1.58,9.52,0.00,2.20,0.044,0.000,0.055,595,348,1077,-9.25,-0.06,300.00,0,0,0,0,0,0,24.52,28.83,24.50
$IRIDIUM_FIX,4729.30,-12237.37,190215,222228
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.03
$INTERNAL_PRESSURE,9.15227
$TCM_TEMP,18.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.6,57.3
$24V_AH,23.6,0.590
$10V_AH,10.3,0.385
$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,21.300,3.425,438.825,2.200,0.000,58.195,109.060,499.112,2.500,0.000,18.192,1665.113,864.700,470.764,1866.721,176.769,33.213,1111.843,0.000,1165.654,0.000,18.129,0.000
$DEVICE_MAMPS,155.295,55.845,608.175,55.080,0.000,54.320,160.000,223.000,420.000,0.000,30.710,12.060,2.190,12.060,38.280,45.020,64.490,14.900,0.000,14.980,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,559.688,665.056,670.164,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,11.240,68.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323280
$DATA_FILE_SIZE,57119,792
$CAP_FILE_SIZE,73695,1
$CFSIZE,260165632,259153920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200215,001814,4742.895,-12225.030,7,4.9,28,18.2