version: 66.07
glider: 130
mission: 12
dive: 17
start: 2 17 111 12 0 33
data:
$ID,130
$MISSION,12
$DIVE,17
$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,-92474.016
$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,31
$R_STBD_OVSHOOT,39
$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
$GPS1,170211,114602,4742.792,-12223.534,9,1.8,9,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-69.6
$GPS2,170211,115934,4742.812,-12223.516,17,2.3,36,18.2
$SPEED_LIMITS,0.130,0.178
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.132,0.119
$KALMAN_X,-2622.5,9.9,-42.2,4685.0,-115.4
$KALMAN_Y,1971.1,700.9,-596.0,-2784.9,-39.5
$MHEAD_RNG_PITCHd_Wd,29.8,350,-19.0,-7.491
$D_GRID,34
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.56,-77.5,0.0,0.0,0,65,0.00,0.00,-42.45,0.000,2,0.000,0.000,418,1912,2469,0,0,0,0,0,0
$GC,68,-1.56,-77.9,2.2,-4.0,5,104,11.95,2.47,-17.80,0.000,4,0.159,0.061,2521,3295,2977,0,0,0,0,0,0
$STATE,316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,316,begin apogee
$GC,324,-0.62,0.0,34.7,15.8,41,392,1.02,0.00,61.00,0.601,6,0.108,0.000,2722,1856,2658,0,0,0,0,0,0
$STATE,395,end apogee,CONTROL_FINISHED_OK
$STATE,395,begin climb
$GC,398,1.56,77.9,41.4,0.0,49,474,2.30,2.62,63.47,0.588,4,0.080,0.063,3197,446,2339,0,0,0,0,0,0
$GC,630,1.50,77.9,27.4,7.6,81,639,0.00,2.42,0.00,0.000,6,0.000,0.037,3197,1849,2336,0,0,0,0,0,0
$GC,723,1.49,103.2,22.0,5.8,94,750,0.00,2.62,21.73,0.552,4,0.000,0.063,3197,446,2237,0,0,0,0,0,0
$GC,888,1.45,112.3,11.7,6.9,117,905,0.00,2.35,9.07,0.496,6,0.000,0.037,3197,1807,2199,0,0,0,0,0,0
$GC,989,1.42,112.3,4.7,7.5,131,998,0.12,0.00,0.00,0.000,6,0.120,0.000,3175,1810,2198,0,0,0,0,0,0
$STATE,1012,end climb,SURFACE_DEPTH_REACHED
$STATE,1012,begin surface coast
$FINISH,0.1,1.021688
$STATE,1072,end surface coast,CONTROL_FINISHED_OK
$STATE,1072,begin surface
$SM_CCo,1094,90.50,0.413,1,0,1599,260.02
$SM_GC,1.26,0.00,0.00,90.50,0.000,0.000,0.413,418,1911,1599,-11.26,0.31,260.02
$IRIDIUM_FIX,4726.11,-12227.78,170211,111119
$TT8_MAMPS,0.024717
$HUMID,32.28
$INTERNAL_PRESSURE,9.08116
$TCM_TEMP,13.00
$XPDR_PINGS,0
$24V_AH,23.7,1.461
$10V_AH,10.3,1.456
$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,27.800,15.200,155.275,90.500,0.000,67.417,66.456,382.466,0.000,0.000,38.334,346.120,62.166,250.125,1035.470,317.086,33.324,483.896,0.000,612.845,0.000,0.535,0.000
$DEVICE_MAMPS,159.120,73.440,600.525,413.100,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,157.234,97.009,492.423,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323632
$DATA_FILE_SIZE,6969,143
$CAP_FILE_SIZE,32509,0
$CFSIZE,260165632,66846720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170211,122113,4742.769,-12223.427,10,1.1,10,18.2