version: 66.11
glider: 130
mission: 24
dive: 12
start: 2 20 115 9 26 37
data:
$ID,130
$MISSION,24
$DIVE,12
$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,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,-173077.3
$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,2624
$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,2110
$C_ROLL_CLIMB,2030
$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,0
$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
$GPS1,200215,091235,4744.175,-12224.730,29,1.6,29,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-66.8
$GPS2,200215,092537,4744.039,-12224.883,11,1.6,11,18.2
$SPEED_LIMITS,0.114,0.185
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.094,-0.159
$KALMAN_X,-822.2,20.2,237.6,-254.2,-159.4
$KALMAN_Y,-3603.8,725.9,836.8,3927.4,-353.0
$MHEAD_RNG_PITCHd_Wd,131.2,1981,-17.1,-8.000,-23.42,1863
$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,13,begin dive
$GC,16,-1.15,-97.8,597,2085,1122,1014,0.0,0.0,0,62,0.00,0.00,-43.67,0.000,16386,0.000,0.000,597,2086,2343,2380,2306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-1.15,-97.8,597,2086,2380,2307,2.2,-6.0,8,96,10.07,2.50,-9.68,0.000,18948,0.156,0.065,2368,695,2701,2754,2648,0,0,0,0,0,0,24.23,24.37,24.68
$GC,240,-1.15,-97.8,2368,694,2755,2648,19.7,-11.2,41,246,0.00,2.45,0.00,0.000,1030,0.000,0.036,2367,2128,2701,2755,2648,0,0,0,0,0,0,28.83,24.46,28.83
$GC,371,-1.15,-97.8,2368,2128,2755,2647,31.5,-7.3,66,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2128,2701,2755,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,500,-1.15,-97.8,2367,2129,2755,2648,44.3,-8.8,91,507,0.00,2.55,0.00,0.000,516,0.000,0.053,2368,681,2702,2756,2648,0,0,0,0,0,0,28.83,24.45,28.83
$GC,534,-1.15,-97.8,2368,680,2755,2648,47.2,-8.9,97,541,0.00,2.47,0.00,0.000,1030,0.000,0.034,2367,2136,2701,2755,2648,0,0,0,0,0,0,28.83,24.50,28.83
$GC,666,-1.15,-97.8,2367,2136,2755,2648,56.3,-7.0,122,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2136,2701,2755,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,856,-1.15,-97.8,2367,2136,2755,2648,72.2,-8.2,159,862,0.00,2.45,0.00,0.000,260,0.000,0.055,2368,3535,2702,2756,2648,0,0,0,0,0,0,28.83,24.46,28.83
$GC,946,-1.15,-97.8,2367,3535,2755,2648,80.0,-8.4,176,953,0.00,2.47,0.00,0.000,1030,0.000,0.037,2368,2090,2701,2755,2648,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1137,-1.15,-97.8,2367,2089,2755,2648,95.5,-8.5,213,1143,0.00,2.42,0.00,0.000,516,0.000,0.052,2368,686,2701,2755,2648,0,0,0,0,0,0,28.83,24.51,28.83
$GC,1283,-1.15,-97.8,2367,686,2755,2648,108.0,-9.0,241,1290,0.00,2.42,0.00,0.000,1030,0.000,0.034,2368,2128,2701,2755,2648,0,0,0,0,0,0,28.83,24.57,28.83
$GC,1474,-1.15,-97.8,2367,2129,2756,2648,123.5,-7.3,278,1480,0.00,2.53,0.00,0.000,516,0.000,0.051,2368,684,2702,2756,2648,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1588,-1.15,-97.8,1424,684,2695,2638,132.4,-8.3,300,1594,0.00,2.45,0.00,0.000,1030,0.000,0.034,2368,2133,2702,2756,2648,0,0,0,0,0,0,28.83,24.59,28.83
$GC,1779,-1.15,-97.8,2367,2133,2756,2648,146.2,-7.7,337,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2133,2702,2756,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1969,-1.15,-97.8,2367,2133,2756,2648,158.7,-7.8,374,1975,0.00,2.53,0.00,0.000,516,0.000,0.052,2368,685,2702,2756,2648,0,0,0,0,0,0,28.83,24.57,28.83
$GC,2124,-1.15,-97.8,2367,686,2755,2648,171.5,-8.1,404,2131,0.00,2.45,0.00,0.000,1030,0.000,0.035,2367,2137,2702,2756,2648,0,0,0,0,0,0,28.83,24.63,28.83
$STATE,2231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2231,begin apogee
$GC,2237,-0.30,0.0,2367,2000,2756,2648,179.3,-7.1,425,2320,0.95,0.05,74.15,0.596,10246,0.119,0.075,2551,2054,2299,2368,2230,0,0,0,0,0,0,24.52,24.03,23.66
$STATE,2321,end apogee,CONTROL_FINISHED_OK
$STATE,2322,begin climb
$GC,2324,1.15,97.8,2551,2054,2368,2229,181.6,0.0,440,2407,1.55,0.00,74.47,0.590,10502,0.089,0.000,2872,2054,1900,1975,1825,0,0,0,0,0,0,24.18,28.83,23.64
$GC,2591,1.15,97.8,2872,2054,1975,1818,155.6,11.8,491,2597,0.00,2.55,0.00,0.000,516,0.000,0.055,2872,609,1897,1976,1818,0,0,0,0,0,0,28.83,24.37,28.83
$GC,2671,1.15,97.8,2872,610,1975,1818,145.2,13.3,506,2678,0.00,2.45,0.00,0.000,1030,0.000,0.035,2872,2048,1897,1975,1819,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2862,1.15,97.8,2872,2048,1974,1817,122.1,12.4,543,2869,0.00,2.55,0.00,0.000,516,0.000,0.054,2872,601,1896,1974,1818,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2963,1.15,97.8,2872,601,1974,1817,108.9,13.4,562,2970,0.00,2.47,0.00,0.000,1030,0.000,0.035,2872,2052,1895,1974,1817,0,0,0,0,0,0,28.83,24.48,28.83
$GC,3154,1.15,97.8,2872,2052,1974,1817,86.4,10.4,599,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2052,1895,1974,1817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3343,1.15,97.8,2872,2052,1974,1817,66.2,11.3,636,3350,0.00,2.55,0.00,0.000,516,0.000,0.054,2872,609,1895,1974,1817,0,0,0,0,0,0,28.83,24.47,28.83
$GC,3398,1.15,97.8,2872,609,1974,1817,59.3,13.1,646,3404,0.00,2.45,0.00,0.000,1030,0.000,0.035,2872,2048,1895,1974,1817,0,0,0,0,0,0,28.83,24.52,28.83
$GC,3589,1.15,97.8,2872,2047,1973,1817,36.0,11.8,683,3595,0.00,2.55,0.00,0.000,516,0.000,0.054,2872,604,1895,1974,1817,0,0,0,0,0,0,28.83,24.50,28.83
$GC,3653,1.15,97.8,1808,604,1914,1808,28.1,12.6,695,3660,0.00,2.45,0.00,0.000,1030,0.000,0.034,2872,2048,1895,1974,1816,0,0,0,0,0,0,28.83,24.55,28.83
$GC,3784,1.15,97.8,2872,2048,1974,1817,15.4,8.8,720,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2048,1895,1974,1816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3913,1.19,130.9,2872,2048,1974,1817,6.0,6.2,745,3947,0.00,2.62,25.17,0.492,8708,0.000,0.054,2872,612,1765,1845,1686,0,0,0,0,0,0,28.83,24.21,23.82
$STATE,3962,end climb,SURFACE_DEPTH_REACHED
$STATE,3963,begin surface coast
$FINISH,0.1,1.009545
$STATE,4020,end surface coast,CONTROL_FINISHED_OK
$STATE,4020,begin surface
$SM_CCo,4043,94.90,0.355,1,0,1076,300.00
$SM_GC,0.86,10.32,2.65,94.90,0.047,0.034,0.355,597,2136,1076,-9.27,-0.17,300.00,0,0,0,0,1,0,24.46,24.48,23.76
$IRIDIUM_FIX,4716.56,-12313.07,200215,090923
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.30
$INTERNAL_PRESSURE,9.15227
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,23.6,1.076
$10V_AH,10.4,0.817
$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,22.900,55.325,173.800,94.900,0.000,35.130,44.937,573.799,0.000,0.000,13.489,1719.414,846.914,394.093,1760.437,202.629,33.222,983.306,0.000,1126.807,0.000,0.536,0.000
$DEVICE_MAMPS,156.060,165.240,595.935,354.960,0.000,54.320,160.000,223.000,420.000,0.000,30.710,12.060,2.190,12.060,38.280,45.020,64.490,14.900,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,540.335,644.508,649.224,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,11.240,68.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323288
$DATA_FILE_SIZE,53716,765
$CAP_FILE_SIZE,80750,0
$CFSIZE,260165632,258789376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200215,103624,4743.287,-12224.845,12,1.7,12,18.2