version: 66.07
glider: 130
mission: 12
dive: 14
start: 2 17 111 8 37 28
data:
$ID,130
$MISSION,12
$DIVE,14
$D_SURF,3
$D_FLARE,2
$D_TGT,200
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,4
$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,89
$T_MISSION,95
$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,-8
$MAX_BUOY,80
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52028
$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,260
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,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,-92470.133
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,417
$PITCH_MAX,3725
$C_PITCH,2865
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,162
$ROLL_MAX,3945
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,30
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,516
$VBD_MAX,3960
$C_VBD,2659
$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,7.8000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-9.5150938
$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,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,0.0044026845
$SEABIRD_T_H,0.00064110267
$SEABIRD_T_I,2.6319482e-05
$SEABIRD_T_J,2.9463893e-06
$SEABIRD_C_G,-9.7963085
$SEABIRD_C_H,1.1040274
$SEABIRD_C_I,-0.0013956937
$SEABIRD_C_J,0.00019230587
$GPS1,170211,082632,4743.619,-12223.488,14,1.1,15,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-69.1
$GPS2,170211,083632,4743.610,-12223.528,12,1.3,12,18.2
$SPEED_LIMITS,0.130,0.178
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.016,-0.177
$KALMAN_X,-1452.8,70.4,-152.4,3551.2,-41.6
$KALMAN_Y,2870.9,476.6,-33.0,-2540.6,-120.4
$MHEAD_RNG_PITCHd_Wd,156.6,1130,-18.9,-7.491
$D_GRID,159
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.55,-77.9,0.0,0.0,0,66,0.00,0.00,-42.65,0.000,2,0.000,0.000,414,1908,2470,0,0,0,0,0,0
$GC,69,-1.55,-77.9,2.2,-4.0,5,105,11.88,2.60,-18.20,0.000,4,0.155,0.073,2522,492,2978,0,0,0,0,0,0
$GC,176,-1.45,-77.9,13.2,-15.4,19,185,0.10,2.42,0.00,0.000,6,0.119,0.038,2542,1892,2978,0,0,0,0,0,0
$GC,267,-1.40,-77.9,27.6,-15.3,32,276,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1895,2978,0,0,0,0,0,0
$GC,362,-1.34,-77.9,41.2,-14.1,45,371,0.15,2.50,0.00,0.000,4,0.126,0.052,2568,3296,2979,0,0,0,0,0,0
$GC,493,-1.32,-77.9,56.5,-10.9,65,500,0.00,2.42,0.00,0.000,6,0.000,0.044,2568,1906,2978,0,0,0,0,0,0
$GC,646,-1.29,-77.9,73.3,-10.9,90,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1905,2979,0,0,0,0,0,0
$GC,801,-1.26,-77.9,88.8,-11.1,115,809,0.10,2.47,0.00,0.000,4,0.147,0.050,2585,3295,2979,0,0,0,0,0,0
$GC,854,-1.26,-77.9,94.4,-10.1,123,862,0.00,2.42,0.00,0.000,6,0.000,0.045,2585,1917,2978,0,0,0,0,0,0
$GC,1006,-1.26,-77.9,109.7,-9.6,148,1014,0.00,2.58,0.00,0.000,4,0.000,0.062,2586,490,2978,0,0,0,0,0,0
$GC,1064,-1.23,-77.9,115.9,-10.8,157,1071,0.00,2.38,0.00,0.000,6,0.000,0.037,2585,1907,2978,0,0,0,0,0,0
$GC,1218,-1.23,-77.9,129.7,-8.1,182,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1909,2978,0,0,0,0,0,0
$GC,1374,-1.23,-77.9,141.7,-7.4,207,1381,0.00,2.53,0.00,0.000,4,0.000,0.062,2585,486,2978,0,0,0,0,0,0
$GC,1500,-1.20,-77.9,153.6,-10.4,227,1507,0.00,2.42,0.00,0.000,6,0.000,0.037,2586,1921,2978,0,0,0,0,0,0
$GC,1658,-1.31,-77.9,156.8,-0.1,252,1667,0.00,2.60,0.00,0.000,4,0.000,0.063,2585,488,2978,0,0,0,0,0,0
$STATE,1731,end dive,NO_VERTICAL_VELOCITY
$STATE,1731,begin apogee
$GC,1742,-0.62,0.0,156.9,0.0,264,1809,0.65,0.00,62.10,0.672,6,0.075,0.000,2724,1861,2658,0,0,0,0,0,0
$STATE,1810,end apogee,CONTROL_FINISHED_OK
$STATE,1810,begin climb
$GC,1812,1.55,77.9,156.7,0.0,273,1887,2.22,2.67,65.03,0.656,4,0.069,0.062,3196,437,2340,0,0,0,0,0,0
$GC,2164,1.48,77.9,123.2,11.5,328,2173,0.00,2.42,0.00,0.000,6,0.000,0.037,3196,1844,2334,0,0,0,0,0,0
$GC,2324,1.43,77.9,108.2,9.1,353,2331,0.00,2.53,0.00,0.000,4,0.000,0.061,3196,443,2333,0,0,0,0,0,0
$GC,2536,1.37,77.9,86.5,9.3,388,2545,0.15,2.33,0.00,0.000,6,0.110,0.037,3166,1800,2332,0,0,0,0,0,0
$GC,2692,1.36,93.8,75.8,6.5,413,2714,0.00,2.58,13.38,0.574,4,0.000,0.049,3165,3239,2275,0,0,0,0,0,0
$GC,2796,1.36,93.8,68.1,7.6,429,2802,0.00,2.47,0.00,0.000,6,0.000,0.046,3165,1826,2273,0,0,0,0,0,0
$GC,2948,1.36,93.8,56.6,8.2,454,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1825,2274,0,0,0,0,0,0
$GC,3113,1.36,93.8,43.9,8.0,479,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1826,2273,0,0,0,0,0,0
$GC,3203,1.38,104.4,37.3,6.8,492,3220,0.00,2.50,10.23,0.536,4,0.000,0.063,3165,443,2232,0,0,0,0,0,0
$GC,3343,1.35,104.4,26.7,8.0,512,3352,0.00,2.40,0.00,0.000,6,0.000,0.037,3165,1845,2231,0,0,0,0,0,0
$GC,3437,1.36,115.0,20.1,6.8,525,3454,0.00,0.00,10.12,0.529,6,0.000,0.000,3165,1845,2190,0,0,0,0,0,0
$GC,3536,1.37,125.6,13.4,6.8,539,3552,0.00,0.00,10.43,0.519,6,0.000,0.000,3165,1845,2146,0,0,0,0,0,0
$GC,3636,1.37,125.8,6.3,7.5,553,3645,0.00,2.45,0.00,0.000,4,0.000,0.050,3165,3237,2145,0,0,0,0,0,0
$STATE,3678,end climb,SURFACE_DEPTH_REACHED
$STATE,3678,begin surface coast
$FINISH,1.1,1.021655
$STATE,3700,end surface coast,CONTROL_FINISHED_OK
$STATE,3700,begin surface
$SM_CCo,3725,79.18,0.067,0,0,1598,260.02
$SM_GC,0.80,0.00,0.00,79.18,0.000,0.000,0.067,413,1898,1598,-11.28,-0.06,260.02
$IRIDIUM_FIX,4729.30,-12224.09,170211,070700
$TT8_MAMPS,0.024717
$HUMID,32.71
$INTERNAL_PRESSURE,9.08116
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,23.7,1.281
$10V_AH,10.3,1.263
$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,27.500,54.425,171.275,79.175,0.000,27.190,33.407,330.397,0.000,0.000,13.003,1292.803,268.595,334.720,1938.728,572.051,33.345,890.299,0.000,1789.829,0.000,0.535,0.000
$DEVICE_MAMPS,155.295,73.440,672.435,66.555,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.324,247.500,1226.176,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323692
$DATA_FILE_SIZE,30327,562
$CAP_FILE_SIZE,69464,0
$CFSIZE,260165632,66891776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170211,094204,4743.056,-12223.733,10,3.2,29,18.2