version: 66.11
glider: 130
mission: 24
dive: 6
start: 2 20 115 0 29 25
data:
$ID,130
$MISSION,24
$DIVE,6
$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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$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,-172161.73
$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,3650
$C_ROLL_CLIMB,3650
$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
$GPS1,200215,001814,4742.895,-12225.030,7,4.9,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-70.2
$GPS2,200215,002821,4742.884,-12224.939,13,4.5,33,18.2
$SPEED_LIMITS,0.067,0.166
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.077,0.147
$KALMAN_X,-724.4,-32.1,-125.6,-3.0,-390.5
$KALMAN_Y,-3177.3,-784.3,-266.6,3990.4,-921.3
$MHEAD_RNG_PITCHd_Wd,9.2,3042,-19.8,-8.000,-25.72,1493
$D_GRID,179
$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,-1.29,-78.2,595,3657,1135,1010,0.0,0.0,0,57,0.00,0.00,-38.25,0.000,16386,0.000,0.000,595,3657,2201,2230,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-1.29,-78.2,595,3657,2230,2172,2.1,-5.5,7,85,10.10,0.00,-11.52,0.000,18438,0.167,0.000,2327,3658,2620,2659,2582,0,0,0,0,0,0,24.25,28.83,24.71
$GC,210,-1.29,-78.2,2328,3658,2660,2582,18.1,-9.4,35,215,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,3658,2621,2660,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,339,-1.29,-78.2,2327,3658,2660,2582,27.8,-6.7,60,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,3658,2621,2660,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,468,-1.29,-78.2,2327,3658,2660,2582,36.6,-5.4,85,473,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,3658,2621,2660,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,597,-1.29,-78.2,2328,3658,2660,2582,44.7,-5.5,110,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,3658,2621,2660,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,726,-1.29,-78.2,2327,3658,2660,2582,52.9,-6.5,135,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,3658,2621,2660,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,915,-1.29,-78.2,2328,3658,2661,2582,65.9,-5.8,172,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,3658,2621,2660,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1104,-1.29,-78.2,2328,3658,2660,2582,78.9,-8.4,209,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,3658,2621,2660,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1293,-1.29,-78.2,2328,3658,2661,2582,93.2,-6.7,246,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,3658,2621,2660,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1485,-1.29,-78.2,2328,3658,2661,2582,107.2,-7.7,283,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,3659,2621,2661,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1677,-1.29,-78.2,2327,3659,2661,2582,120.2,-6.5,320,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,3659,2621,2661,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1871,-1.29,-78.2,2328,3659,2660,2582,133.1,-7.3,357,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,3658,2621,2660,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2067,-1.29,-78.2,2328,3659,2660,2582,145.7,-5.9,394,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,3659,2621,2661,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2257,-1.29,-78.2,2328,3659,2661,2582,158.0,-5.9,431,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,3659,2621,2661,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2446,-1.29,-78.2,2327,3658,2661,2582,169.9,-6.1,468,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,3658,2621,2661,2582,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2557,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2557,begin apogee
$GC,2563,-0.30,0.0,2328,3659,2661,2582,177.4,-6.6,490,2630,1.12,0.00,59.15,0.615,10246,0.126,0.000,2542,3659,2300,2373,2228,0,0,0,0,0,0,24.53,28.83,23.65
$STATE,2630,end apogee,CONTROL_FINISHED_OK
$STATE,2631,begin climb
$GC,2633,1.29,78.2,2542,3658,2373,2226,179.0,0.0,502,2700,1.73,0.00,59.78,0.602,10246,0.090,0.000,2897,3659,1981,2064,1898,0,0,0,0,0,0,24.19,28.83,23.64
$GC,2883,1.29,78.2,2897,3658,2064,1891,151.6,13.1,550,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,3658,1977,2064,1891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3073,1.29,78.2,2897,3658,2064,1890,128.7,12.0,587,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,3659,1977,2064,1890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3262,1.29,78.2,2897,3659,2064,1889,104.7,14.7,624,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,3658,1976,2064,1889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3452,1.29,78.2,2897,3658,2064,1889,83.1,11.0,661,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,3658,1976,2063,1889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3641,1.29,78.2,1840,3658,2000,1879,59.9,13.5,698,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,3658,1976,2064,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3830,1.29,78.2,1840,3658,2000,1879,37.0,12.0,735,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,3658,1976,2064,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3958,1.29,78.2,2897,3658,2063,1888,22.3,10.7,760,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,3658,1976,2064,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4087,1.29,78.2,2897,3658,2064,1888,10.0,8.2,785,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,3658,1976,2064,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4216,1.37,139.9,2897,3658,2064,1888,3.3,3.8,810,4234,0.00,0.00,16.08,0.480,8194,0.000,0.000,2897,3658,1860,1950,1771,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4235,end climb,SURFACE_DEPTH_REACHED
$STATE,4235,begin surface coast
$FINISH,-0.1,1.019966
$STATE,4348,end surface coast,CONTROL_FINISHED_OK
$STATE,4348,begin surface
$SM_CCo,4369,112.85,0.418,1,0,1075,300.00
$SM_GC,0.73,10.48,0.00,112.85,0.050,0.000,0.418,595,3659,1075,-9.25,0.23,300.00,0,0,0,0,1,0,24.52,28.83,23.75
$IRIDIUM_FIX,4729.30,-12218.68,200215,000055
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.48
$INTERNAL_PRESSURE,9.15227
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,145.0,55.5
$24V_AH,23.6,0.653
$10V_AH,10.4,0.445
$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,23.425,5.900,135.000,112.850,0.000,32.113,43.773,382.259,3.500,0.000,36.058,1887.271,939.270,362.761,1739.069,168.794,33.228,979.866,0.000,1233.202,0.000,28.382,0.000
$DEVICE_MAMPS,166.770,45.135,615.060,417.690,0.000,54.320,160.000,223.000,420.000,0.000,30.710,12.060,2.190,12.060,38.280,45.020,64.490,14.900,0.000,14.980,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,589.746,718.120,723.515,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,11.240,68.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323272
$DATA_FILE_SIZE,57161,835
$CAP_FILE_SIZE,76745,0
$CFSIZE,260165632,259100672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200215,014523,4742.765,-12224.930,20,0.9,39,18.2