version: 66.10
glider: 130
mission: 17
dive: 15
start: 8 1 112 10 51 16
data:
$ID,130
$MISSION,17
$DIVE,15
$N_DIVES,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,75
$T_MISSION,85
$T_ABORT,1440
$T_TURN,225
$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,180
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51923
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-115654.91
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,650
$PITCH_MAX,3725
$C_PITCH,2995
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,240
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,516
$VBD_MAX,3960
$C_VBD,2115
$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
$CF8_MAXERRORS,20
$AH0_24V,92
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-9.4193525
$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,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$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,0.0044015422
$SEABIRD_T_H,0.00063880393
$SEABIRD_T_I,2.4712466e-05
$SEABIRD_T_J,2.5684481e-06
$SEABIRD_C_G,-9.7931423
$SEABIRD_C_H,1.1029133
$SEABIRD_C_I,-0.001068091
$SEABIRD_C_J,0.00016957214
$GPS1,010812,104136,4743.813,-12224.688,39,1.0,40,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-67.4
$GPS2,010812,105019,4743.703,-12224.777,12,1.3,12,18.2
$SPEED_LIMITS,0.067,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.002,0.260
$KALMAN_X,-887.7,791.3,64.7,82.4,-31.8
$KALMAN_Y,-6696.5,1347.7,-195.8,6514.2,-802.5
$MHEAD_RNG_PITCHd_Wd,342.1,366,-12.5,-8.000
$D_GRID,175
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,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,-1.11,-176.0,0.0,0.0,0,66,0.00,0.00,-47.83,0.000,2,0.000,0.000,645,1900,2145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-1.11,-176.0,2.3,-5.0,6,111,12.02,2.47,-18.15,0.000,4,0.160,0.058,2749,3294,2834,0,0,0,0,0,0,24.38,24.51,24.80
$GC,162,-1.07,-176.0,9.8,-8.9,19,171,0.00,2.42,0.00,0.000,6,0.000,0.040,2749,1902,2834,0,0,0,0,0,0,28.83,24.56,28.83
$GC,246,-1.05,-176.0,17.6,-8.8,32,254,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1901,2834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,328,-1.02,-176.0,25.6,-9.9,45,338,0.12,2.55,0.00,0.000,4,0.128,0.060,2772,498,2834,0,0,0,0,0,0,24.54,24.56,28.83
$GC,430,-1.02,-176.0,34.8,-8.4,61,439,0.00,2.38,0.00,0.000,6,0.000,0.033,2772,1905,2835,0,0,0,0,0,0,28.83,24.65,28.83
$GC,513,-1.02,-176.0,41.3,-8.2,74,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1905,2834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,596,-1.02,-176.0,48.5,-9.6,87,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1905,2835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,676,-1.02,-176.0,56.5,-10.0,100,684,0.00,2.42,0.00,0.000,4,0.000,0.047,2772,3288,2835,0,0,0,0,0,0,28.83,24.63,28.83
$GC,734,-1.02,-176.0,62.2,-9.1,109,741,0.00,2.38,0.00,0.000,6,0.000,0.041,2772,1896,2834,0,0,0,0,0,0,28.83,24.65,28.83
$GC,882,-1.02,-176.0,71.6,-4.8,134,891,0.00,2.53,0.00,0.000,4,0.000,0.061,2772,500,2834,0,0,0,0,0,0,28.83,24.62,28.83
$GC,974,-1.02,-176.0,79.5,-9.9,149,981,0.00,2.33,0.00,0.000,6,0.000,0.034,2772,1911,2834,0,0,0,0,0,0,28.83,24.71,28.83
$GC,1124,-1.02,-176.0,91.7,-8.0,174,1133,0.00,2.40,0.00,0.000,4,0.000,0.047,2772,3285,2834,0,0,0,0,0,0,28.83,24.68,28.83
$GC,1186,-1.02,-176.0,96.7,-7.9,184,1195,0.00,2.42,0.00,0.000,6,0.000,0.042,2772,1898,2835,0,0,0,0,0,0,28.83,24.69,28.83
$GC,1339,-1.02,-176.0,107.4,-7.2,209,1346,0.00,2.47,0.00,0.000,4,0.000,0.061,2772,496,2834,0,0,0,0,0,0,28.83,24.65,28.83
$GC,1416,-1.02,-176.0,114.6,-8.5,222,1425,0.00,2.35,0.00,0.000,6,0.000,0.034,2772,1896,2834,0,0,0,0,0,0,28.83,24.74,28.83
$GC,1569,-1.02,-176.0,124.9,-6.9,247,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1896,2834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1714,-1.02,-176.0,135.7,-9.8,272,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1896,2834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1865,-1.02,-176.0,143.0,-3.7,297,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1896,2835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2010,-1.02,-176.0,155.9,-9.6,322,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1897,2835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2160,-1.02,-176.0,167.5,-7.5,347,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1896,2834,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2253,begin apogee
$GC,2260,-0.36,0.0,175.3,-8.3,363,2414,0.68,0.00,147.98,0.579,6,0.096,0.000,2912,1790,2114,0,0,0,0,0,0,24.73,28.83,23.78
$STATE,2415,end apogee,CONTROL_FINISHED_OK
$STATE,2416,begin climb
$GC,2419,1.11,176.0,179.8,0.0,386,2582,1.55,2.60,150.65,0.566,4,0.081,0.065,3231,408,1396,0,0,0,0,0,0,24.25,24.13,23.75
$GC,2616,1.08,176.0,166.4,10.4,415,2623,0.00,2.33,0.00,0.000,6,0.000,0.034,3232,1787,1394,0,0,0,0,0,0,28.83,24.38,28.83
$GC,2764,1.08,176.0,154.1,9.4,440,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1791,1394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2914,1.08,176.0,138.3,11.0,465,2920,0.00,2.53,0.00,0.000,4,0.000,0.067,3232,401,1392,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3014,1.05,176.0,126.4,11.7,482,3023,0.00,2.40,0.00,0.000,6,0.000,0.034,3231,1805,1391,0,0,0,0,0,0,28.83,24.55,28.83
$GC,3166,1.05,176.0,109.7,11.3,507,3173,0.00,2.55,0.00,0.000,4,0.000,0.066,3231,399,1391,0,0,0,0,0,0,28.83,24.49,28.83
$GC,3241,1.02,176.0,100.3,13.0,519,3248,0.00,2.35,0.00,0.000,6,0.000,0.034,3231,1804,1390,0,0,0,0,0,0,28.83,24.58,28.83
$GC,3388,1.02,176.0,84.9,10.0,544,3397,0.00,2.58,0.00,0.000,4,0.000,0.065,3231,404,1391,0,0,0,0,0,0,28.83,24.53,28.83
$GC,3459,0.99,176.0,77.1,11.5,555,3465,0.00,2.33,0.00,0.000,6,0.000,0.034,3231,1800,1391,0,0,0,0,0,0,28.83,24.60,28.83
$GC,3605,0.99,176.0,63.3,8.5,580,3614,0.00,2.55,0.00,0.000,4,0.000,0.065,3231,411,1391,0,0,0,0,0,0,28.83,24.56,28.83
$GC,3652,0.96,176.0,58.8,10.1,587,3659,0.15,2.33,0.00,0.000,6,0.097,0.034,3202,1803,1391,0,0,0,0,0,0,24.58,24.63,28.83
$GC,3804,0.99,199.6,48.0,7.3,612,3837,0.00,2.62,21.77,0.485,4,0.000,0.066,3202,404,1300,0,0,0,0,0,0,28.83,24.30,23.96
$GC,3888,0.99,199.6,41.2,8.5,624,3896,0.00,2.38,0.00,0.000,6,0.000,0.034,3202,1799,1299,0,0,0,0,0,0,28.83,24.57,28.83
$GC,3971,1.00,209.9,35.0,7.7,637,3989,0.00,2.55,10.73,0.448,4,0.000,0.064,3202,406,1258,0,0,0,0,0,0,28.83,24.38,24.03
$GC,4028,1.00,209.9,30.7,9.0,645,4037,0.00,2.38,0.00,0.000,6,0.000,0.034,3202,1800,1258,0,0,0,0,0,0,28.83,24.57,28.83
$GC,4111,1.01,216.7,24.2,7.8,658,4128,0.00,2.58,7.93,0.422,4,0.000,0.064,3202,408,1230,0,0,0,0,0,0,28.83,24.43,24.09
$GC,4150,1.01,216.7,21.0,8.4,663,4159,0.00,2.38,0.00,0.000,6,0.000,0.034,3202,1800,1230,0,0,0,0,0,0,28.83,24.56,28.83
$GC,4234,1.08,259.6,15.0,6.7,676,4283,0.12,0.00,40.08,0.474,6,0.065,0.000,3239,1804,1055,0,0,0,0,0,0,24.67,28.83,23.90
$GC,4358,1.12,285.2,5.4,7.2,694,4390,0.00,2.60,23.92,0.455,4,0.000,0.065,3239,408,950,0,0,0,0,0,0,28.83,24.25,23.93
$STATE,4397,end climb,SURFACE_DEPTH_REACHED
$STATE,4397,begin surface coast
$FINISH,0.0,1.020574
$STATE,4441,end surface coast,CONTROL_FINISHED_OK
$STATE,4441,begin surface
$SM_CCo,4465,13.75,0.381,1,0,891,300.00
$SM_GC,0.64,11.50,2.58,13.75,0.035,0.033,0.381,645,1909,891,-10.75,-1.19,300.00,0,0,0,0,1,0,24.52,24.53,24.01
$IRIDIUM_FIX,4732.49,-12209.84,010812,090938
$TT8_MAMPS,0.024717,0.024717
$HUMID,52.59
$INTERNAL_PRESSURE,8.99327
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.8,1.273
$10V_AH,10.4,1.327
$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,26.150,73.875,403.050,13.750,0.000,29.440,32.012,334.408,0.000,0.000,15.052,1539.655,413.968,460.778,2396.149,202.969,33.225,1225.683,0.000,2016.264,0.000,0.770,0.000
$DEVICE_MAMPS,159.885,71.910,579.105,380.970,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,504.427,327.400,1533.865,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323584
$DATA_FILE_SIZE,43614,706
$CAP_FILE_SIZE,84511,0
$CFSIZE,260165632,257650688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,010812,120709,4744.227,-12224.631,9,2.1,29,18.2