version: 66.11
glider: 130
mission: 24
dive: 16
start: 2 20 115 15 10 31
data:
$ID,130
$MISSION,24
$DIVE,16
$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,150
$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,-173084.11
$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,1930
$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
$GPS1,200215,145926,4742.774,-12225.594,24,2.7,45,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-65.9
$GPS2,200215,150931,4742.839,-12225.535,11,1.7,11,18.2
$SPEED_LIMITS,0.114,0.222
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.216,0.053
$KALMAN_X,-2928.0,-173.0,-536.4,2001.4,-290.6
$KALMAN_Y,-4745.5,600.0,-959.7,4752.3,-77.0
$MHEAD_RNG_PITCHd_Wd,58.1,1324,-12.7,-8.000,-19.81,2788
$D_GRID,190
$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,-0.95,-146.6,597,2076,1124,1014,0.0,0.0,0,63,0.00,0.00,-44.10,0.000,16386,0.000,0.000,597,2076,2342,2378,2307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.95,-146.6,597,2076,2379,2308,2.1,-5.8,8,102,10.32,2.62,-15.30,0.000,18692,0.157,0.066,2411,3525,2900,2948,2852,0,0,0,0,0,0,24.26,24.37,24.73
$GC,115,-0.95,-146.6,2410,3525,2948,2853,5.6,-8.7,16,122,0.00,2.47,0.00,0.000,1030,0.000,0.037,2411,2089,2900,2948,2852,0,0,0,0,0,0,28.83,24.45,28.83
$GC,245,-0.95,-146.6,2411,2088,2948,2853,22.2,-12.3,41,251,0.00,2.55,0.00,0.000,260,0.000,0.054,2411,3527,2900,2948,2853,0,0,0,0,0,0,28.83,24.42,28.83
$GC,284,-0.95,-146.6,2410,3526,2948,2853,26.3,-10.5,48,291,0.00,2.45,0.00,0.000,1030,0.000,0.036,2411,2096,2900,2948,2853,0,0,0,0,0,0,28.83,24.50,28.83
$GC,416,-0.95,-146.6,2411,2095,2948,2853,36.9,-6.5,73,423,0.00,2.47,0.00,0.000,516,0.000,0.053,2411,682,2900,2948,2853,0,0,0,0,0,0,28.83,24.48,28.83
$GC,460,-0.95,-146.6,1440,682,2898,2844,40.2,-7.9,81,467,0.00,2.47,0.00,0.000,1030,0.000,0.036,2411,2134,2900,2948,2853,0,0,0,0,0,0,28.83,24.52,28.83
$GC,592,-0.95,-146.6,2410,2134,2949,2853,49.3,-7.4,106,599,0.00,2.45,0.00,0.000,260,0.000,0.055,2411,3527,2901,2949,2853,0,0,0,0,0,0,28.83,24.46,28.83
$GC,827,-0.95,-146.6,2410,3527,2949,2853,70.1,-9.2,152,833,0.00,2.45,0.00,0.000,1030,0.000,0.036,2410,2094,2900,2948,2853,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1017,-0.95,-146.6,2410,2094,2949,2853,86.8,-7.7,189,1024,0.00,2.53,0.00,0.000,260,0.000,0.054,2410,3529,2900,2948,2853,0,0,0,0,0,0,28.83,24.50,28.83
$GC,1052,-0.95,-146.6,2410,3529,2949,2853,89.7,-8.4,195,1059,0.00,2.45,0.00,0.000,1030,0.000,0.037,2411,2092,2901,2949,2853,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1242,-0.95,-146.6,2410,2092,2949,2853,105.7,-9.7,232,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2092,2901,2949,2853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1431,-0.95,-146.6,2410,2092,2949,2853,122.2,-6.7,269,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2092,2901,2949,2853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1621,-0.95,-146.6,2410,2092,2949,2853,136.8,-7.2,306,1628,0.00,2.45,0.00,0.000,516,0.000,0.054,2411,684,2901,2949,2853,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1676,-0.95,-146.6,2410,684,2949,2853,141.5,-8.4,316,1682,0.00,2.45,0.00,0.000,1030,0.000,0.034,2410,2134,2901,2949,2853,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1866,-0.95,-146.6,2410,2133,2949,2853,157.3,-7.4,353,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2134,2901,2949,2853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2056,-0.95,-146.6,2410,2134,2949,2853,171.2,-6.5,390,2063,0.00,2.53,0.00,0.000,516,0.000,0.052,2411,687,2900,2948,2853,0,0,0,0,0,0,28.83,24.60,28.83
$GC,2096,-0.95,-146.6,2410,687,2949,2853,174.2,-7.7,397,2103,0.00,2.42,0.00,0.000,1030,0.000,0.034,2411,2133,2901,2949,2853,0,0,0,0,0,0,28.83,24.66,28.83
$STATE,2183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2183,begin apogee
$GC,2189,-0.30,0.0,2410,1899,2949,2853,180.1,-6.4,414,2307,0.70,0.08,109.50,0.593,10246,0.110,0.110,2549,1959,2299,2368,2231,0,0,0,0,0,0,24.56,24.04,23.66
$STATE,2310,end apogee,CONTROL_FINISHED_OK
$STATE,2310,begin climb
$GC,2312,0.95,146.6,2550,1959,2369,2231,183.1,0.0,435,2433,1.38,2.65,110.95,0.578,10756,0.090,0.056,2828,507,1702,1784,1621,0,0,0,0,0,0,24.17,24.05,23.63
$GC,2473,0.95,146.6,2827,507,1782,1621,171.3,10.7,464,2480,0.00,2.47,0.00,0.000,1030,0.000,0.034,2827,1952,1701,1782,1621,0,0,0,0,0,0,28.83,24.32,28.83
$GC,2663,0.95,146.6,2827,1953,1780,1616,152.9,9.0,501,2669,0.00,2.58,0.00,0.000,516,0.000,0.057,2827,507,1698,1780,1616,0,0,0,0,0,0,28.83,24.36,28.83
$GC,2712,0.95,146.6,2827,507,1780,1616,148.0,10.0,510,2719,0.00,2.47,0.00,0.000,1030,0.000,0.034,2827,1958,1698,1780,1616,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2904,0.95,146.6,2827,1958,1779,1615,130.2,10.4,547,2911,0.00,2.58,0.00,0.000,516,0.000,0.057,2828,509,1696,1779,1614,0,0,0,0,0,0,28.83,24.40,28.83
$GC,2959,0.95,146.6,2827,509,1779,1614,124.0,11.0,557,2965,0.00,2.45,0.00,0.000,1030,0.000,0.034,2827,1953,1696,1779,1614,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3149,0.95,146.6,1792,1951,1728,1607,105.8,9.1,594,3156,0.00,2.58,0.00,0.000,516,0.000,0.057,2828,504,1696,1779,1614,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3173,0.95,146.6,1792,504,1728,1607,103.4,10.0,598,3180,0.00,2.45,0.00,0.000,1030,0.000,0.034,2828,1949,1696,1779,1613,0,0,0,0,0,0,28.83,24.49,28.83
$GC,3364,0.95,146.6,2827,1949,1778,1613,84.4,10.0,635,3370,0.00,2.55,0.00,0.000,516,0.000,0.057,2827,511,1695,1778,1613,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3393,0.95,146.6,1792,511,1728,1607,81.2,11.6,640,3399,0.00,2.45,0.00,0.000,1030,0.000,0.034,2827,1952,1695,1778,1613,0,0,0,0,0,0,28.83,24.51,28.83
$GC,3583,0.95,146.6,2827,1953,1778,1613,62.8,10.0,677,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1953,1695,1778,1613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3773,0.95,146.6,2828,1953,1778,1613,44.2,9.3,714,3779,0.00,2.42,0.00,0.000,260,0.000,0.051,2827,3348,1695,1778,1613,0,0,0,0,0,0,28.83,24.50,28.83
$GC,3807,0.95,146.6,1792,3346,1726,1605,41.0,9.5,720,3813,0.00,2.47,0.00,0.000,1030,0.000,0.041,2828,1916,1694,1777,1612,0,0,0,0,0,0,28.83,24.52,28.83
$GC,3936,0.95,146.6,2827,1916,1777,1612,28.8,8.6,745,3943,0.00,2.50,0.00,0.000,516,0.000,0.057,2828,503,1694,1777,1612,0,0,0,0,0,0,28.83,24.51,28.83
$GC,3956,0.95,146.6,2827,503,1777,1611,27.2,8.4,748,3963,0.00,2.45,0.00,0.000,1030,0.000,0.034,2828,1955,1694,1777,1612,0,0,0,0,0,0,28.83,24.57,28.83
$GC,4088,0.97,164.0,2827,1955,1777,1611,17.1,7.4,773,4107,0.00,2.65,13.50,0.467,8708,0.000,0.056,2828,512,1630,1714,1547,0,0,0,0,0,0,28.83,24.32,23.95
$GC,4136,1.01,194.5,2828,512,1714,1547,13.7,6.9,781,4170,0.00,2.45,25.02,0.480,9222,0.000,0.034,2827,1950,1506,1590,1422,0,0,0,0,0,0,28.83,24.46,23.80
$GC,4294,1.05,227.5,2827,1950,1590,1419,4.2,6.8,811,4314,0.12,0.00,16.25,0.457,10498,0.077,0.000,2863,1950,1424,1510,1338,0,0,0,0,0,0,24.54,28.83,28.83
$STATE,4314,end climb,SURFACE_DEPTH_REACHED
$STATE,4315,begin surface coast
$FINISH,-0.0,1.009694
$STATE,4356,end surface coast,CONTROL_FINISHED_OK
$STATE,4356,begin surface
$SM_CCo,4377,44.88,0.053,0,0,1076,300.00
$SM_GC,0.75,10.23,0.30,44.88,0.043,0.051,0.053,597,2149,1076,-9.28,-0.25,300.00,0,0,0,0,0,0,24.43,24.47,24.41
$IRIDIUM_FIX,4726.11,-12240.07,200215,151525
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.93
$INTERNAL_PRESSURE,9.15227
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.6,1.375
$10V_AH,10.4,1.056
$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,22.750,75.825,275.225,44.875,0.000,34.657,59.598,383.986,0.000,0.000,13.360,1812.424,877.479,438.384,1703.281,194.244,33.260,1099.923,0.000,1214.037,0.000,0.536,0.000
$DEVICE_MAMPS,156.825,110.160,592.875,52.785,0.000,54.320,160.000,223.000,420.000,0.000,30.710,12.060,2.190,12.060,38.280,45.020,64.490,14.900,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,580.901,695.743,701.320,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,56972,822
$CAP_FILE_SIZE,87127,0
$CFSIZE,260165632,258580480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200215,162500,4743.143,-12224.815,10,1.7,15,18.2