version: 66.11
glider: 130
mission: 24
dive: 14
start: 2 20 115 12 15 59
data:
$ID,130
$MISSION,24
$DIVE,14
$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,-173081.52
$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
$GPS1,200215,120034,4742.834,-12225.268,21,1.8,21,18.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-66.5
$GPS2,200215,121459,4742.806,-12225.416,36,1.8,36,18.2
$SPEED_LIMITS,0.114,0.185
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.145,0.115
$KALMAN_X,-2149.1,-19.3,-93.5,788.4,-702.7
$KALMAN_Y,-4770.8,942.8,-170.2,3590.9,-1095.1
$MHEAD_RNG_PITCHd_Wd,33.4,1196,-17.1,-8.000,-23.42,1863
$D_GRID,189
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.15,-97.8,596,2080,1122,1012,0.0,0.0,0,62,0.00,0.00,-43.50,0.000,16386,0.000,0.000,596,2081,2334,2370,2299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-1.15,-97.8,596,2081,2370,2299,2.2,-5.9,8,96,10.20,2.53,-10.00,0.000,18948,0.162,0.065,2366,683,2701,2753,2649,0,0,0,0,0,0,24.23,24.36,24.68
$GC,154,-1.15,-97.8,2365,683,2754,2649,9.8,-10.4,24,160,0.00,2.47,0.00,0.000,1030,0.000,0.036,2365,2129,2701,2754,2649,0,0,0,0,0,0,28.83,24.44,28.83
$GC,283,-1.15,-97.8,2365,2129,2754,2649,22.0,-9.9,49,290,0.00,2.47,0.00,0.000,260,0.000,0.056,2366,3526,2701,2754,2649,0,0,0,0,0,0,28.83,24.39,28.83
$GC,403,-1.15,-97.8,2365,3526,2755,2649,33.4,-9.1,72,410,0.00,2.45,0.00,0.000,1030,0.000,0.037,2366,2095,2702,2755,2649,0,0,0,0,0,0,28.83,24.49,28.83
$GC,533,-1.15,-97.8,2365,2095,2755,2649,44.4,-7.6,97,539,0.00,2.53,0.00,0.000,260,0.000,0.051,2366,3528,2702,2755,2649,0,0,0,0,0,0,28.83,24.43,28.83
$GC,789,-1.15,-97.8,1408,3527,2691,2638,66.2,-8.6,147,796,0.00,2.45,0.00,0.000,1030,0.000,0.037,2365,2092,2702,2755,2649,0,0,0,0,0,0,28.83,24.53,28.83
$GC,979,-1.15,-97.8,2365,2091,2755,2649,81.1,-8.2,184,986,0.00,2.55,0.00,0.000,260,0.000,0.053,2366,3532,2702,2755,2649,0,0,0,0,0,0,28.83,24.48,28.83
$GC,1038,-1.15,-97.8,2365,3532,2755,2649,86.4,-8.5,195,1045,0.00,2.45,0.00,0.000,1030,0.000,0.036,2366,2093,2702,2755,2649,0,0,0,0,0,0,28.83,24.55,28.83
$GC,1229,-1.15,-97.8,2366,2092,2755,2649,96.2,-2.5,232,1236,0.00,2.45,0.00,0.000,516,0.000,0.053,2366,687,2701,2754,2649,0,0,0,0,0,0,28.83,24.52,28.83
$GC,1475,-1.15,-97.8,2365,687,2755,2649,107.6,-4.2,280,1482,0.00,2.45,0.00,0.000,1030,0.000,0.034,2366,2137,2702,2755,2649,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1667,-1.15,-97.8,2366,2137,2754,2649,114.9,-4.6,317,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2137,2702,2755,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1856,-1.15,-97.8,2365,2137,2755,2649,125.6,-6.7,354,1863,0.00,2.55,0.00,0.000,516,0.000,0.051,2365,681,2702,2755,2649,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1891,-1.15,-97.8,2365,680,2755,2649,128.5,-8.8,360,1897,0.00,2.45,0.00,0.000,1030,0.000,0.034,2366,2133,2702,2755,2649,0,0,0,0,0,0,28.83,24.62,28.83
$GC,2081,-1.15,-97.8,2365,2133,2755,2649,143.7,-7.9,397,2088,0.00,2.45,0.00,0.000,260,0.000,0.056,2365,3535,2702,2755,2649,0,0,0,0,0,0,28.83,24.56,28.83
$GC,2131,-1.15,-97.8,2366,3535,2755,2649,148.1,-8.9,406,2137,0.00,2.47,0.00,0.000,1030,0.000,0.037,2365,2089,2702,2755,2649,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2323,-1.15,-97.8,2365,2089,2755,2649,163.2,-7.5,443,2329,0.00,2.53,0.00,0.000,260,0.000,0.054,2365,3528,2702,2755,2649,0,0,0,0,0,0,28.83,24.57,28.83
$GC,2422,-1.15,-97.8,2365,3528,2755,2649,171.2,-8.3,462,2429,0.00,2.45,0.00,0.000,1030,0.000,0.037,2365,2093,2702,2755,2649,0,0,0,0,0,0,28.83,24.65,28.83
$STATE,2544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2544,begin apogee
$GC,2551,-0.30,0.0,2365,2006,2755,2649,180.4,-7.1,486,2634,0.98,0.05,74.03,0.602,10246,0.122,0.073,2552,2059,2300,2369,2231,0,0,0,0,0,0,24.53,24.03,23.66
$STATE,2634,end apogee,CONTROL_FINISHED_OK
$STATE,2635,begin climb
$GC,2637,1.15,97.8,2553,2059,2369,2230,181.7,0.0,501,2721,1.52,2.62,74.45,0.589,10756,0.090,0.054,2870,605,1900,1975,1825,0,0,0,0,0,0,24.18,24.06,23.64
$GC,2736,1.15,97.8,2869,605,1975,1825,174.0,11.1,518,2742,0.00,2.47,0.00,0.000,1030,0.000,0.033,2870,2050,1900,1975,1825,0,0,0,0,0,0,28.83,24.27,28.83
$GC,2927,1.15,97.8,2870,2050,1974,1820,152.4,10.7,555,2934,0.00,2.55,0.00,0.000,516,0.000,0.054,2870,609,1897,1974,1820,0,0,0,0,0,0,28.83,24.38,28.83
$GC,2967,1.15,97.8,2870,609,1973,1820,147.5,13.0,562,2973,0.00,2.47,0.00,0.000,1030,0.000,0.034,2870,2056,1896,1973,1820,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3157,1.15,97.8,2870,2056,1973,1818,127.2,12.3,599,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2055,1896,1973,1819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3346,1.15,97.8,2870,2057,1973,1818,104.9,12.5,636,3353,0.00,2.58,0.00,0.000,516,0.000,0.052,2869,601,1895,1972,1818,0,0,0,0,0,0,28.83,24.45,28.83
$GC,3507,1.15,97.8,2870,601,1972,1818,82.3,14.4,667,3514,0.00,2.45,0.00,0.000,1030,0.000,0.034,2870,2048,1895,1972,1818,0,0,0,0,0,0,28.83,24.51,28.83
$GC,3698,1.15,97.8,2870,2047,1972,1818,60.3,9.3,704,3704,0.00,2.55,0.00,0.000,516,0.000,0.054,2870,608,1895,1972,1818,0,0,0,0,0,0,28.83,24.49,28.83
$GC,3777,1.15,97.8,2869,607,1972,1818,53.1,8.6,719,3784,0.00,2.45,0.00,0.000,1030,0.000,0.034,2870,2055,1895,1972,1818,0,0,0,0,0,0,28.83,24.54,28.83
$GC,3967,1.17,109.4,2870,2056,1972,1817,40.7,7.4,756,3985,0.00,2.50,9.07,0.460,8452,0.000,0.052,2870,3444,1854,1931,1777,0,0,0,0,0,0,28.83,24.37,23.99
$GC,4028,1.17,109.4,2870,3444,1930,1777,35.8,8.4,767,4035,0.00,2.45,0.00,0.000,1030,0.000,0.037,2870,2016,1853,1931,1776,0,0,0,0,0,0,28.83,24.49,28.83
$GC,4158,1.17,109.4,2870,2016,1931,1776,23.7,8.2,792,4165,0.00,2.47,0.00,0.000,516,0.000,0.054,2870,607,1853,1931,1775,0,0,0,0,0,0,28.83,24.50,28.83
$GC,4198,1.17,109.4,2870,607,1931,1775,20.1,9.8,799,4204,0.00,2.45,0.00,0.000,1030,0.000,0.034,2870,2051,1853,1931,1775,0,0,0,0,0,0,28.83,24.56,28.83
$GC,4329,1.21,140.8,2870,2051,1931,1776,10.4,6.3,824,4364,0.00,2.53,25.17,0.483,8452,0.000,0.052,2870,3444,1724,1804,1645,0,0,0,0,0,0,28.83,24.20,23.83
$GC,4402,1.22,151.0,2870,3444,1804,1644,5.1,7.4,837,4420,0.00,2.47,8.95,0.415,9222,0.000,0.039,2870,2016,1683,1766,1600,0,0,0,0,0,0,28.83,24.42,23.91
$STATE,4425,end climb,SURFACE_DEPTH_REACHED
$STATE,4425,begin surface coast
$FINISH,0.4,1.020485
$STATE,4462,end surface coast,CONTROL_FINISHED_OK
$STATE,4462,begin surface
$SM_CCo,4482,81.93,0.380,1,0,1076,300.00
$SM_GC,0.85,10.30,0.20,81.93,0.046,0.060,0.380,599,2149,1076,-9.27,-0.23,300.00,0,0,0,0,1,0,24.44,24.49,23.75
$IRIDIUM_FIX,4716.56,-12208.44,200215,121218
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.50
$INTERNAL_PRESSURE,9.1425
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,23.6,1.236
$10V_AH,10.4,0.938
$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,23.000,75.200,191.675,81.925,0.000,30.071,41.351,641.986,0.000,0.000,40.928,1903.067,933.843,413.203,1969.458,214.383,33.228,1068.711,0.000,1251.700,0.000,0.535,0.000
$DEVICE_MAMPS,162.180,98.685,602.055,380.205,0.000,54.320,160.000,223.000,420.000,0.000,30.710,12.060,2.190,12.060,38.280,45.020,64.490,14.900,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,599.108,716.130,721.059,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,11.240,68.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323308
$DATA_FILE_SIZE,60287,848
$CAP_FILE_SIZE,90379,0
$CFSIZE,260165632,258674688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200215,133255,4742.601,-12225.558,13,1.2,14,18.2