version: 66.08
glider: 130
mission: 14
dive: 16
start: 12 16 111 11 12 19
data:
$ID,130
$MISSION,14
$DIVE,16
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,200
$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,60
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,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,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51798
$NAV_MODE,2
$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,210
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$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,-106590.57
$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,2938
$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,2060
$C_ROLL_CLIMB,1985
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,516
$VBD_MAX,3960
$C_VBD,2595
$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,-9.7200212
$PRESSURE_SLOPE,0.0001159091
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,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
$GPS1,161211,110356,4744.511,-12223.506,12,1.2,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-66.4
$GPS2,161211,111114,4744.500,-12223.485,11,1.3,11,18.2
$SPEED_LIMITS,0.100,0.216
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.012,-0.181
$KALMAN_X,-1186.0,-579.8,316.7,2907.8,-54.7
$KALMAN_Y,2812.3,118.1,620.9,-660.9,-27.3
$MHEAD_RNG_PITCHd_Wd,182.3,554,-35.5,-10.000
$D_GRID,147
$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
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-2.59,-37.7,0.0,0.0,0,67,0.00,0.00,-41.17,0.000,6,0.000,0.000,646,2055,2748,0,0,0,0,0,0
$GC,70,-2.62,-69.0,2.5,-4.4,5,90,9.73,2.58,-3.35,0.000,4,0.158,0.073,2356,648,2878,0,0,0,0,0,0
$GC,126,-2.55,-69.0,11.5,-19.3,12,137,0.10,2.45,0.00,0.000,6,0.134,0.039,2375,2059,2878,0,0,0,0,0,0
$GC,220,-2.52,-69.0,28.9,-19.2,25,230,0.00,2.55,0.00,0.000,4,0.000,0.057,2375,644,2878,0,0,0,0,0,0
$GC,516,-2.45,-69.0,92.9,-22.1,71,523,0.15,2.42,0.00,0.000,6,0.147,0.037,2401,2067,2879,0,0,0,0,0,0
$GC,674,-2.43,-69.0,122.7,-17.6,96,683,0.00,2.45,0.00,0.000,4,0.000,0.050,2400,3456,2879,0,0,0,0,0,0
$GC,691,-2.43,-69.0,126.1,-17.5,98,700,0.00,2.47,0.00,0.000,6,0.000,0.043,2400,2050,2878,0,0,0,0,0,0
$GC,856,-2.68,-97.7,146.9,-1.1,123,864,0.20,2.47,-0.62,0.000,4,0.056,0.060,2349,3469,3000,0,0,0,0,0,0
$GC,874,-2.93,-97.7,146.9,-0.1,125,881,0.22,2.42,0.00,0.000,6,0.049,0.041,2291,2058,3001,0,0,0,0,0,0
$STATE,905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,905,begin apogee
$GC,915,-0.36,0.0,147.0,0.7,130,1005,2.65,0.00,82.88,0.591,6,0.070,0.000,2857,1976,2594,0,0,0,0,0,0
$STATE,1006,end apogee,CONTROL_FINISHED_OK
$STATE,1006,begin climb
$GC,1009,2.66,97.7,147.0,0.0,142,1104,3.08,2.58,84.60,0.568,4,0.064,0.046,3512,3389,2195,0,0,0,0,0,0
$GC,1384,2.66,97.7,76.6,21.6,200,1393,0.00,2.50,0.00,0.000,6,0.000,0.044,3512,1991,2189,0,0,0,0,0,0
$GC,1549,2.66,97.7,44.1,20.2,225,1558,0.00,2.47,0.00,0.000,4,0.000,0.049,3512,3380,2188,0,0,0,0,0,0
$GC,1662,2.66,97.7,21.2,18.8,241,1671,0.00,2.47,0.00,0.000,6,0.000,0.044,3512,1988,2188,0,0,0,0,0,0
$GC,1754,2.66,97.7,3.4,20.7,254,1764,0.00,2.47,0.00,0.000,4,0.000,0.050,3512,3379,2187,0,0,0,0,0,0
$STATE,1771,end climb,SURFACE_DEPTH_REACHED
$STATE,1771,begin surface coast
$FINISH,0.1,1.000726
$STATE,1794,end surface coast,CONTROL_FINISHED_OK
$STATE,1794,begin surface
$SM_CCo,1822,59.28,0.057,0,0,1738,210.22
$SM_GC,1.21,0.00,0.00,59.28,0.000,0.000,0.057,644,2056,1738,-10.56,-0.11,210.22
$IRIDIUM_FIX,4729.30,-12215.26,161211,101024
$TT8_MAMPS,0.024717
$HUMID,30.54
$INTERNAL_PRESSURE,9.33508
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,23.7,0.886
$10V_AH,10.4,1.158
$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,28.900,34.825,167.475,59.275,0.000,23.298,33.530,207.839,0.000,0.000,13.212,643.564,116.181,265.082,975.162,334.168,33.325,573.574,0.000,854.722,0.000,0.535,0.000
$DEVICE_MAMPS,157.590,89.505,591.345,57.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,239.479,119.758,581.346,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323560
$DATA_FILE_SIZE,13657,259
$CAP_FILE_SIZE,39514,0
$CFSIZE,260165632,24694784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.149,157.8,1
$GPS,161211,114432,4744.272,-12223.403,10,1.7,10,18.2