version: 66.11
glider: 130
mission: 24
dive: 7
start: 2 20 115 1 56 2
data:
$ID,130
$MISSION,24
$DIVE,7
$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,80
$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,-172162.98
$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,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,2200
$C_ROLL_CLIMB,1890
$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,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
$GPS1,200215,014523,4742.765,-12224.930,20,0.9,39,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-68.1
$GPS2,200215,015501,4742.817,-12224.840,10,1.9,10,18.2
$SPEED_LIMITS,0.114,0.166
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.051,0.158
$KALMAN_X,-805.1,-49.8,-268.7,354.4,-247.2
$KALMAN_Y,-3918.3,-664.1,-468.0,4659.9,-842.0
$MHEAD_RNG_PITCHd_Wd,359.7,3145,-19.8,-8.000,-25.72,1493
$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,13,begin dive
$GC,16,-1.29,-78.2,594,2173,1117,1018,0.0,0.0,0,57,0.00,0.00,-38.58,0.000,16386,0.000,0.000,594,2173,2212,2248,2176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-1.29,-78.2,594,2174,2248,2177,2.1,-6.0,7,88,9.65,2.65,-10.73,0.000,19204,0.147,0.075,2328,3620,2619,2673,2566,0,0,0,0,0,0,24.23,24.30,24.69
$GC,162,-1.29,-78.2,2328,3620,2673,2568,13.2,-13.2,25,168,0.00,2.50,0.00,0.000,1030,0.000,0.041,2328,2184,2620,2673,2568,0,0,0,0,0,0,28.83,24.42,28.83
$GC,295,-1.29,-78.2,2328,2184,2673,2568,26.0,-7.7,50,301,0.00,2.47,0.00,0.000,516,0.000,0.053,2328,773,2620,2673,2568,0,0,0,0,0,0,28.83,24.42,28.83
$GC,806,-1.29,-78.2,2328,772,2674,2568,68.8,-5.6,151,812,0.00,2.45,0.00,0.000,1030,0.000,0.037,2328,2215,2621,2674,2568,0,0,0,0,0,0,28.83,24.52,28.83
$GC,998,-1.29,-78.2,2328,2215,2674,2568,81.0,-7.7,188,1004,0.00,2.53,0.00,0.000,516,0.000,0.051,2328,776,2621,2674,2568,0,0,0,0,0,0,28.83,24.50,28.83
$GC,1052,-1.29,-78.2,1384,776,2608,2557,85.1,-7.5,198,1059,0.00,2.45,0.00,0.000,1030,0.000,0.037,2328,2213,2621,2674,2568,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1242,-1.29,-78.2,2328,2213,2674,2568,99.4,-8.6,235,1249,0.00,2.50,0.00,0.000,516,0.000,0.050,2328,779,2621,2674,2568,0,0,0,0,0,0,28.83,24.52,28.83
$GC,1337,-1.29,-78.2,2328,779,2674,2568,108.1,-9.5,253,1344,0.00,2.42,0.00,0.000,1030,0.000,0.036,2328,2213,2621,2674,2568,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1529,-1.29,-78.2,2328,2214,2674,2568,121.9,-6.4,290,1536,0.00,2.50,0.00,0.000,260,0.000,0.060,2328,3619,2620,2674,2567,0,0,0,0,0,0,28.83,24.46,28.83
$GC,1963,-1.29,-78.2,2328,3619,2674,2568,149.2,-5.6,375,1970,0.00,2.45,0.00,0.000,1030,0.000,0.038,2328,2177,2621,2674,2568,0,0,0,0,0,0,28.83,24.61,28.83
$GC,2154,-1.29,-78.2,2328,2177,2674,2567,158.8,-5.5,412,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2177,2620,2674,2567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2344,-1.29,-78.2,2328,2177,2674,2567,169.7,-6.5,449,2350,0.00,2.42,0.00,0.000,516,0.000,0.052,2328,774,2621,2674,2568,0,0,0,0,0,0,28.83,24.59,28.83
$GC,2408,-1.29,-78.2,1384,773,2608,2556,173.8,-6.2,461,2415,0.00,2.42,0.00,0.000,1030,0.000,0.036,2328,2213,2620,2674,2567,0,0,0,0,0,0,28.83,24.64,28.83
$STATE,2519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2519,begin apogee
$GC,2526,-0.30,0.0,2328,1863,2675,2567,180.0,-5.0,483,2593,1.08,0.08,59.30,0.602,10246,0.106,0.110,2541,1916,2300,2369,2232,0,0,0,0,0,0,24.51,24.06,23.66
$STATE,2594,end apogee,CONTROL_FINISHED_OK
$STATE,2594,begin climb
$GC,2597,1.29,78.2,2541,1916,2369,2232,181.2,0.0,495,2669,1.73,2.67,59.95,0.601,10756,0.094,0.059,2895,477,1980,2053,1908,0,0,0,0,0,0,24.18,24.07,23.64
$GC,2682,1.29,78.2,2895,477,2052,1908,173.9,12.4,510,2688,0.00,2.47,0.00,0.000,1030,0.000,0.035,2895,1918,1980,2052,1908,0,0,0,0,0,0,28.83,24.30,28.83
$GC,2873,1.29,78.2,2895,1920,2051,1903,147.0,13.6,547,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1920,1977,2051,1903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3063,1.29,78.2,2895,1920,2051,1901,124.7,10.2,584,3069,0.00,2.45,0.00,0.000,260,0.000,0.052,2895,3316,1976,2051,1901,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3107,1.29,78.2,2895,3316,2051,1900,120.2,9.9,592,3114,0.00,2.50,0.00,0.000,1030,0.000,0.042,2895,1877,1975,2051,1900,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3298,1.29,78.2,2895,1877,2051,1900,100.7,12.1,629,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1877,1975,2051,1900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3487,1.29,78.2,2895,1877,2051,1900,77.3,11.3,666,3494,0.00,2.53,0.00,0.000,260,0.000,0.050,2895,3316,1974,2050,1899,0,0,0,0,0,0,28.83,24.48,28.83
$GC,3501,1.29,78.2,2896,3316,2050,1899,75.7,11.5,668,3508,0.00,2.50,0.00,0.000,1030,0.000,0.042,2895,1871,1975,2051,1899,0,0,0,0,0,0,28.83,24.50,28.83
$GC,3691,1.29,78.2,2895,1872,2051,1899,56.9,8.5,705,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1871,1975,2051,1899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3880,1.29,78.2,2895,1871,2051,1899,40.9,9.5,742,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1871,1975,2051,1899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4009,1.29,78.2,2895,1871,2051,1899,28.3,9.0,767,4015,0.00,2.50,0.00,0.000,516,0.000,0.060,2895,464,1975,2051,1899,0,0,0,0,0,0,28.83,24.50,28.83
$GC,4146,1.29,78.2,2895,464,2051,1899,13.9,10.7,793,4153,0.00,2.45,0.00,0.000,1030,0.000,0.034,2895,1912,1975,2051,1899,0,0,0,0,0,0,28.83,24.58,28.83
$GC,4279,1.32,101.5,2895,1912,2050,1898,5.5,6.4,818,4303,0.00,2.62,17.30,0.493,8708,0.000,0.055,2895,463,1885,1961,1809,0,0,0,0,0,0,28.83,24.28,23.89
$STATE,4319,end climb,SURFACE_DEPTH_REACHED
$STATE,4319,begin surface coast
$FINISH,-0.1,1.017971
$STATE,4377,end surface coast,CONTROL_FINISHED_OK
$STATE,4377,begin surface
$SM_CCo,4401,105.72,0.371,1,0,1076,300.00
$SM_GC,0.88,10.43,3.05,105.72,0.048,0.036,0.371,600,2212,1076,-9.23,-0.48,300.00,0,0,0,0,1,0,24.49,24.49,23.75
$IRIDIUM_FIX,4729.30,-12218.68,200215,000017
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.29
$INTERNAL_PRESSURE,9.15227
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.0,72.4
$24V_AH,23.6,0.713
$10V_AH,10.4,0.505
$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,22.875,59.050,136.550,105.725,0.000,34.691,61.630,355.640,1.750,0.000,12.802,1898.229,941.965,371.364,1700.871,176.559,33.245,995.605,0.000,1231.698,0.000,13.462,0.000
$DEVICE_MAMPS,146.880,110.160,602.055,371.025,0.000,54.320,160.000,223.000,420.000,0.000,30.710,12.060,2.190,12.060,38.280,45.020,64.490,14.900,0.000,14.980,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,590.467,700.796,705.340,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,11.240,68.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323304
$DATA_FILE_SIZE,57186,836
$CAP_FILE_SIZE,81057,0
$CFSIZE,260165632,259047424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,72.44,0x233cca,0,24
$GPS,200215,015501,4742.817,-12224.840,901,99.0,901,18.2