version: 66.11
glider: 130
mission: 24
dive: 8
start: 2 20 115 3 39 32
data:
$ID,130
$MISSION,24
$DIVE,8
$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,100
$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,-173068.86
$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
$GPS1,200215,015501,4742.817,-12224.840,901,99.0,901,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-66.1
$GPS2,200215,033835,4743.479,-12224.318,119,1.9,126,18.2
$SPEED_LIMITS,0.114,0.185
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.072,0.170
$KALMAN_X,-286.8,-155.0,-325.1,639.8,209.4
$KALMAN_Y,-3264.4,-764.8,-640.2,5484.6,245.3
$MHEAD_RNG_PITCHd_Wd,318.9,1905,-17.1,-8.000,-23.42,1863
$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,-1.15,-97.8,600,2212,1121,1013,0.0,0.0,0,62,0.00,0.00,-43.45,0.000,16386,0.000,0.000,600,2213,2344,2380,2308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-1.15,-97.8,600,2212,2380,2308,2.2,-5.6,8,91,9.90,2.60,-9.55,0.000,18692,0.154,0.074,2359,3616,2700,2751,2649,0,0,0,0,0,0,24.27,24.33,24.73
$GC,220,-1.15,-97.8,2359,3616,2751,2650,15.1,-9.3,37,226,0.00,2.47,0.00,0.000,1030,0.000,0.038,2359,2180,2700,2751,2650,0,0,0,0,0,0,28.83,24.49,28.83
$GC,349,-1.15,-97.8,1408,2178,2689,2640,28.9,-11.6,62,354,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2180,2700,2751,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,477,-1.15,-97.8,2359,2180,2751,2650,41.5,-10.0,87,484,0.00,2.45,0.00,0.000,516,0.000,0.053,2359,779,2700,2751,2650,0,0,0,0,0,0,28.83,24.49,28.83
$GC,762,-1.15,-97.8,1416,779,2687,2640,73.6,-11.4,143,769,0.00,2.45,0.00,0.000,1030,0.000,0.037,2359,2221,2701,2751,2651,0,0,0,0,0,0,28.83,24.54,28.83
$GC,954,-1.15,-97.8,2358,2220,2751,2650,91.6,-8.1,180,961,0.00,2.47,0.00,0.000,260,0.000,0.060,2359,3611,2700,2751,2650,0,0,0,0,0,0,28.83,24.46,28.83
$GC,1038,-1.15,-97.8,1408,3610,2689,2639,97.7,-6.9,196,1045,0.00,2.45,0.00,0.000,1030,0.000,0.039,2359,2186,2700,2751,2650,0,0,0,0,0,0,28.83,24.57,28.83
$GC,1230,-1.15,-97.8,2359,2183,2751,2650,109.4,-6.1,233,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2185,2700,2751,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1421,-1.15,-97.8,2359,2184,2751,2650,121.3,-5.6,270,1428,0.00,2.47,0.00,0.000,516,0.000,0.055,2359,773,2700,2751,2650,0,0,0,0,0,0,28.83,24.55,28.83
$GC,1581,-1.15,-97.8,2359,772,2750,2650,132.4,-7.8,300,1588,0.00,2.47,0.00,0.000,1030,0.000,0.038,2359,2219,2700,2751,2650,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1773,-1.15,-97.8,2358,2219,2751,2650,146.2,-7.4,337,1780,0.00,2.47,0.00,0.000,260,0.000,0.062,2359,3613,2700,2750,2650,0,0,0,0,0,0,28.83,24.51,28.83
$GC,1905,-1.15,-97.8,2359,3614,2751,2650,157.0,-7.8,362,1911,0.00,2.45,0.00,0.000,1030,0.000,0.038,2359,2182,2700,2751,2650,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2096,-1.15,-97.8,2358,2182,2751,2650,170.3,-6.2,399,2102,0.00,2.55,0.00,0.000,260,0.000,0.059,2359,3618,2700,2751,2650,0,0,0,0,0,0,28.83,24.53,28.83
$STATE,2123,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2123,begin apogee
$GC,2132,-0.30,0.0,2359,1876,2751,2649,172.1,-6.4,404,2210,0.95,0.00,73.55,0.603,10246,0.121,0.000,2542,1876,2300,2369,2232,0,0,0,0,0,0,24.51,28.83,23.67
$STATE,2211,end apogee,CONTROL_FINISHED_OK
$STATE,2211,begin climb
$GC,2214,1.15,97.8,2541,1876,2369,2232,173.9,0.0,418,2296,1.58,0.00,74.25,0.590,11014,0.094,0.000,2864,1877,1901,1975,1827,0,0,0,0,0,0,24.15,28.83,23.64
$GC,2480,1.15,97.8,2863,1877,1975,1820,148.4,9.6,469,2487,0.00,2.53,0.00,0.000,260,0.000,0.050,2863,3317,1897,1975,1820,0,0,0,0,0,0,28.83,24.37,28.83
$GC,2515,1.15,97.8,1808,3316,1914,1810,144.9,10.7,475,2521,0.00,2.50,0.00,0.000,1030,0.000,0.043,2864,1875,1896,1975,1818,0,0,0,0,0,0,28.83,24.40,28.83
$GC,2706,1.15,97.8,2864,1875,1975,1818,125.3,10.5,512,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1875,1896,1975,1818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2896,1.15,97.8,2864,1875,1975,1818,106.6,9.7,549,2903,0.00,2.50,0.00,0.000,516,0.000,0.060,2864,466,1896,1975,1817,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2991,1.15,97.8,2864,467,1975,1817,95.4,12.4,567,2997,0.00,2.45,0.00,0.000,1030,0.000,0.034,2864,1916,1896,1975,1818,0,0,0,0,0,0,28.83,24.50,28.83
$GC,3181,1.15,97.8,2864,1916,1975,1817,74.6,9.2,604,3188,0.00,2.42,0.00,0.000,260,0.000,0.051,2864,3310,1896,1975,1817,0,0,0,0,0,0,28.83,24.49,28.83
$GC,3221,1.15,97.8,1792,3309,1912,1807,71.3,8.8,611,3228,0.00,2.47,0.00,0.000,1030,0.000,0.041,2864,1871,1895,1974,1816,0,0,0,0,0,0,28.83,24.50,28.83
$GC,3412,1.19,122.9,2864,1871,1975,1816,56.6,6.6,648,3441,0.00,2.58,19.30,0.516,8708,0.000,0.058,2864,468,1799,1878,1720,0,0,0,0,0,0,28.83,24.22,23.82
$GC,3546,1.19,122.9,2864,468,1878,1720,44.5,11.1,673,3552,0.00,2.47,0.00,0.000,1030,0.000,0.035,2863,1920,1798,1878,1719,0,0,0,0,0,0,28.83,24.49,28.83
$GC,3677,1.19,122.9,2863,1920,1877,1719,32.2,8.3,698,3684,0.00,2.42,0.00,0.000,260,0.000,0.051,2864,3314,1797,1877,1718,0,0,0,0,0,0,28.83,24.49,28.83
$GC,3747,1.19,124.8,2864,3314,1877,1717,26.4,7.9,711,3754,0.00,2.50,0.00,0.000,1030,0.000,0.042,2864,1872,1797,1877,1717,0,0,0,0,0,0,28.83,24.51,28.83
$GC,3880,1.31,221.8,2864,1872,1877,1716,20.9,2.7,736,3965,0.15,2.55,76.47,0.505,10756,0.076,0.057,2902,469,1394,1479,1309,0,0,0,0,0,0,24.56,24.10,23.74
$GC,4049,1.31,221.8,2902,470,1475,1308,5.9,11.1,767,4056,0.00,2.47,0.00,0.000,1030,0.000,0.036,2902,1912,1391,1475,1308,0,0,0,0,0,0,28.83,24.41,28.83
$STATE,4081,end climb,SURFACE_DEPTH_REACHED
$STATE,4081,begin surface coast
$FINISH,0.1,1.013544
$STATE,4117,end surface coast,CONTROL_FINISHED_OK
$STATE,4117,begin surface
$SM_CCo,4138,42.47,0.054,0,0,1076,300.00
$SM_GC,1.28,10.40,0.52,42.47,0.043,0.047,0.054,596,2221,1076,-9.24,-0.28,300.00,0,0,0,0,0,0,24.43,24.45,24.38
$IRIDIUM_FIX,4719.74,-12217.25,200215,030330
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.13
$INTERNAL_PRESSURE,9.1425
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.1,61.9
$24V_AH,23.6,0.780
$10V_AH,10.4,0.580
$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,22.975,60.775,243.575,42.475,0.000,30.401,49.619,381.393,2.000,0.000,128.798,1734.181,840.826,382.175,1755.928,175.012,33.233,991.391,0.000,1154.308,0.000,16.340,0.000
$DEVICE_MAMPS,153.765,74.205,602.820,53.550,0.000,54.320,160.000,223.000,420.000,0.000,30.710,12.060,2.190,12.060,38.280,45.020,64.490,14.900,0.000,14.980,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.501,662.793,667.412,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,11.240,68.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323284
$DATA_FILE_SIZE,53812,780
$CAP_FILE_SIZE,80219,0
$CFSIZE,260165632,258994176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200215,045020,4744.312,-12224.362,15,5.3,35,18.2