version: 66.12
glider: 130
mission: 32
dive: 16
start: 3 29 116 10 17 56
data:
$ID,130
$MISSION,32
$DIVE,16
$N_DIVES,25
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$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,50
$T_MISSION,75
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52055
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.00285829
$HD_B,0.0114352
$HD_C,1.30115e-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,280
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,6
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$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,2665
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,15.5
$PITCH_TIMEOUT,19
$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,2170
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,1613
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,5
$AH0_24V,92
$AH0_10V,97
$MINV_24V,18
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-10.063459
$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,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.1
$DEEPGLIDER,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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043493826
$SEABIRD_T_H,0.00063626212
$SEABIRD_T_I,2.5578438e-05
$SEABIRD_T_J,2.8240738e-06
$SEABIRD_C_G,-10.043513
$SEABIRD_C_H,1.1284032
$SEABIRD_C_I,-0.0020332292
$SEABIRD_C_J,0.0002405866
$GPS1,290316,101146,4744.2090,-12224.3643,12,1.1,29,18.2,0.2,222.5,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-62.9
$GPS2,290316,101658,4744.1831,-12224.3984,9,1.7,31,18.2,0.2,226.0,8,5.0
$SPEED_LIMITS,0.143,0.233
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.013693,-0.232938
$KALMAN_X,-1001.910645,-543.113953,451.776978,1115.891724,-10.865143
$KALMAN_Y,-5099.425293,-548.788208,733.997803,7320.876953,-220.411621
$MHEAD_RNG_PITCHd_Wd,165.2,2195,-24.0,-12.000,-27.22,1499
$D_GRID,174
$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,-1.67,-116.8,604,2180,568,424,0.0,0.0,0,57,0.00,0.00,-37.80,0.000,16386,0.000,0.000,604,2180,1669,1710,1628,0,0,0,0,0,0,24.75,28.83,24.77
$GC,61,-1.67,-116.8,604,2180,1710,1626,2.0,-3.6,5,93,9.50,2.62,-11.02,0.000,18692,0.153,1.242,2295,3571,2080,2141,2019,0,0,0,0,0,0,24.32,23.68,24.43
$GC,114,-1.67,-116.8,2294,3571,2141,2019,7.1,-10.8,12,123,0.00,2.47,0.00,0.000,1030,0.000,0.043,2294,2176,2079,2141,2018,0,0,0,0,0,0,24.43,24.39,24.46
$GC,263,-1.67,-116.8,2294,2177,2141,2019,27.1,-13.8,37,272,0.00,2.58,0.00,0.000,516,0.000,0.060,2294,761,2080,2141,2019,0,0,0,0,0,0,24.77,24.48,24.79
$GC,635,-1.67,-116.8,2294,761,2141,2019,77.3,-13.2,101,642,0.00,2.42,0.00,0.000,1030,0.000,0.040,2295,2179,2080,2141,2019,0,0,0,0,0,0,24.65,24.58,24.66
$GC,849,-1.67,-116.8,2294,2179,2141,2019,101.9,-9.6,138,857,0.00,2.58,0.00,0.000,516,0.000,0.059,2294,765,2080,2141,2019,0,0,0,0,0,0,24.85,24.55,24.87
$GC,876,-1.67,-116.8,2294,765,2141,2019,105.1,-10.9,142,885,0.00,2.42,0.00,0.000,1030,0.000,0.041,2295,2166,2080,2141,2019,0,0,0,0,0,0,24.64,24.60,24.65
$GC,1094,-1.67,-116.8,2294,2167,2141,2019,127.4,-10.3,179,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2166,2080,2141,2019,0,0,0,0,0,0,24.87,24.90,24.89
$GC,1305,-1.67,-116.8,2294,2166,2141,2019,150.7,-11.0,216,1313,0.00,2.53,0.00,0.000,260,0.000,0.057,2294,3571,2080,2141,2019,0,0,0,0,0,0,24.89,24.60,24.91
$GC,1444,-1.67,-116.8,2294,3571,2140,2019,167.3,-12.6,240,1453,0.00,2.47,0.00,0.000,1030,0.000,0.044,2295,2167,2080,2141,2019,0,0,0,0,0,0,24.68,24.63,24.70
$STATE,1503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1503,begin apogee
$GC,1509,-0.32,0.0,2294,2167,2141,2019,174.5,-11.5,250,1609,1.50,0.00,90.65,0.605,10246,0.119,0.000,2586,2167,1612,1683,1541,0,0,0,0,0,0,24.53,24.03,23.73
$STATE,1610,end apogee,CONTROL_FINISHED_OK
$STATE,1610,begin climb
$GC,1613,1.67,116.8,2586,2167,1683,1541,177.4,0.0,265,1712,2.05,2.62,90.03,0.601,10756,0.080,0.062,3018,765,1148,1227,1070,0,0,0,0,0,0,24.26,24.12,23.72
$GC,1746,1.67,116.8,3018,764,1224,1069,163.4,17.0,285,1753,0.00,2.42,0.00,0.000,1030,0.000,0.039,3018,2178,1146,1224,1069,0,0,0,0,0,0,24.44,24.37,24.45
$GC,1959,1.67,116.8,3018,2178,1224,1063,127.5,17.6,322,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2178,1143,1224,1063,0,0,0,0,0,0,24.72,24.75,24.74
$GC,2177,1.67,116.8,3018,2178,1224,1062,90.1,16.6,359,2184,0.00,2.55,0.00,0.000,516,0.000,0.061,3018,767,1142,1223,1061,0,0,0,0,0,0,24.77,24.47,24.79
$GC,2422,1.67,116.8,3018,767,1220,1061,50.7,15.7,402,2431,0.00,2.47,0.00,0.000,1030,0.000,0.041,3018,2179,1140,1220,1061,0,0,0,0,0,0,24.59,24.56,24.61
$GC,2642,1.67,116.8,3018,2179,1221,1061,17.7,14.4,439,2651,0.00,2.58,0.00,0.000,516,0.000,0.062,3018,771,1140,1220,1060,0,0,0,0,0,0,24.83,24.53,24.85
$GC,2694,1.67,116.8,3018,771,1220,1060,9.0,17.1,447,2703,0.00,2.45,0.00,0.000,1030,0.000,0.040,3018,2181,1140,1220,1060,0,0,0,0,0,0,24.62,24.59,24.64
$STATE,2738,end climb,SURFACE_DEPTH_REACHED
$STATE,2738,begin surface coast
$FINISH,0.2,1.021149
$STATE,2763,end surface coast,CONTROL_FINISHED_OK
$STATE,2763,begin surface
$SM_CCo,2784,103.28,0.490,0,0,499,279.59
$SM_CCo,2891,-0.05,0.000,0,0,501,279.59
$SM_CCo,2895,0.00,0.000,0,0,501,279.59
$SM_GC,0.96,10.82,0.00,0.00,0.044,0.000,0.000,607,2185,501,-9.40,0.42,279.59,0,0,0,0,0,0,24.57,24.87,24.49
$IRIDIUM_FIX,4726.11,-12226.80,290316,091751
$TT8_MAMPS,0.024717,0.244174
$HUMID,46.22
$INTERNAL_PRESSURE,8.98116
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,23.51,1.128
$10V_AH,10.32,0.977
$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,23.875,35.200,180.675,103.275,0.000,22.478,36.855,135.588,0.000,0.000,33.997,1035.629,269.112,327.698,1470.941,117.271,33.457,766.586,0.000,1251.431,0.000,0.535,0.000
$DEVICE_MAMPS,153.000,1242.360,605.115,490.365,0.000,58.140,160.000,223.000,420.000,0.000,31.460,11.960,2.190,11.960,38.180,44.170,62.900,15.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,313.211,946.918,954.309,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,19.470,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312700
$DATA_FILE_SIZE,30337,458
$CAP_FILE_SIZE,49724,0
$CFSIZE,260165632,258170880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290316,110711,4743.945,-12224.504,14,1.7,19,18.2,0.1,291.0,8,7.0