version: 66.11
glider: 130
mission: 24
dive: 3
start: 2 19 115 20 8 4
data:
$ID,130
$MISSION,24
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$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,75
$T_MISSION,85
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51861
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0021100601
$HD_B,0.0121726
$HD_C,2.7118101e-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,10
$CALL_WAIT,45
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-172157.98
$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,2617
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$PITCH_TIMEOUT,18
$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,2200
$C_ROLL_CLIMB,1890
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2300
$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
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,92
$AH0_10V,97
$MINV_24V,18
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-10.099391
$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,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.89999998
$DEEPGLIDER,0
$DEEPGLIDERMB,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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044035749
$SEABIRD_T_H,0.00064291171
$SEABIRD_T_I,2.7386095e-05
$SEABIRD_T_J,3.1457723e-06
$SEABIRD_C_G,-9.7818193
$SEABIRD_C_H,1.0996603
$SEABIRD_C_I,-0.00026411601
$SEABIRD_C_J,0.00011607879
$GPS1,190215,200306,4743.082,-12224.168,8,1.3,8,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-65.6
$GPS2,190215,200707,4743.065,-12224.184,10,1.3,10,18.2
$SPEED_LIMITS,0.114,0.222
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.047,0.217
$KALMAN_X,128.4,126.0,122.8,-322.7,97.3
$KALMAN_Y,-256.7,-215.7,-187.2,739.7,-230.3
$MHEAD_RNG_PITCHd_Wd,329.6,2686,-12.7,-8.000,-19.81,2788
$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,-0.93,-146.6,601,2184,1120,1015,0.0,0.0,0,62,0.00,0.00,-43.45,0.000,16386,0.000,0.000,601,2185,2325,2356,2295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.93,-146.6,601,2184,2356,2295,2.0,-5.2,8,101,10.32,2.53,-15.02,0.000,18948,0.159,0.067,2408,782,2900,2945,2855,0,0,0,0,0,0,24.27,24.46,24.79
$GC,351,-0.93,-146.6,2407,782,2946,2855,28.0,-8.4,63,358,0.00,2.45,0.00,0.000,1030,0.000,0.039,2408,2211,2901,2947,2855,0,0,0,0,0,0,28.83,24.54,28.83
$GC,481,-0.93,-146.6,2408,2210,2947,2855,39.4,-8.8,88,487,0.00,2.50,0.00,0.000,260,0.000,0.061,2408,3617,2901,2947,2855,0,0,0,0,0,0,28.83,24.44,28.83
$GC,526,-0.93,-146.6,1424,3616,2893,2846,43.5,-9.8,96,533,0.00,2.45,0.00,0.000,1030,0.000,0.039,2407,2187,2901,2947,2855,0,0,0,0,0,0,28.83,24.56,28.83
$GC,658,-0.93,-146.6,2408,2187,2947,2855,54.4,-7.7,121,665,0.00,2.53,0.00,0.000,260,0.000,0.058,2408,3612,2901,2947,2855,0,0,0,0,0,0,28.83,24.46,28.83
$GC,733,-0.93,-146.6,2408,3612,2947,2855,60.8,-9.2,135,739,0.00,2.42,0.00,0.000,1030,0.000,0.040,2408,2187,2901,2947,2855,0,0,0,0,0,0,28.83,24.58,28.83
$GC,923,-0.93,-146.6,2407,2187,2947,2854,76.3,-8.0,172,930,0.00,2.45,0.00,0.000,516,0.000,0.056,2407,782,2901,2947,2855,0,0,0,0,0,0,28.83,24.55,28.83
$GC,1017,-0.93,-146.6,1448,780,2896,2846,84.5,-8.6,190,1024,0.00,2.45,0.00,0.000,1030,0.000,0.038,2408,2213,2901,2947,2855,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1208,-0.93,-146.6,2407,2213,2947,2854,100.6,-7.7,227,1214,0.00,2.50,0.00,0.000,516,0.000,0.053,2408,777,2901,2947,2855,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1268,-0.93,-146.6,2408,777,2947,2855,105.6,-8.5,238,1275,0.00,2.45,0.00,0.000,1030,0.000,0.038,2408,2211,2901,2947,2855,0,0,0,0,0,0,28.83,24.62,28.83
$GC,1461,-0.93,-146.6,2408,2212,2947,2855,120.5,-6.6,275,1467,0.00,2.50,0.00,0.000,516,0.000,0.053,2408,774,2901,2947,2855,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1515,-0.93,-146.6,1440,774,2894,2846,124.5,-7.3,285,1527,0.00,2.45,0.00,0.000,1030,0.000,0.038,2407,2219,2901,2947,2855,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1711,-0.93,-146.6,2408,2219,2947,2855,139.5,-6.5,322,1718,0.00,2.47,0.00,0.000,260,0.000,0.060,2408,3620,2901,2947,2855,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1786,-0.93,-146.6,2407,3620,2947,2855,144.8,-8.7,336,1792,0.00,2.45,0.00,0.000,1030,0.000,0.038,2408,2182,2901,2947,2855,0,0,0,0,0,0,28.83,24.66,28.83
$GC,1977,-0.93,-146.6,2407,2182,2947,2855,159.0,-6.7,373,1983,0.00,2.53,0.00,0.000,260,0.000,0.058,2408,3612,2901,2947,2855,0,0,0,0,0,0,28.83,24.55,28.83
$GC,2018,-0.93,-146.6,2408,3612,2947,2855,161.7,-6.4,380,2025,0.00,2.45,0.00,0.000,1030,0.000,0.040,2408,2180,2901,2947,2855,0,0,0,0,0,0,28.83,24.67,28.83
$STATE,2196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2196,begin apogee
$GC,2203,-0.29,0.0,2407,1870,2947,2855,174.3,-7.2,415,2320,0.70,0.03,108.97,0.623,10246,0.110,0.103,2546,1905,2299,2364,2234,0,0,0,0,0,0,24.56,24.01,23.69
$STATE,2323,end apogee,CONTROL_FINISHED_OK
$STATE,2323,begin climb
$GC,2325,0.93,146.6,2546,1905,2365,2234,177.0,0.0,436,2441,1.30,0.00,110.62,0.593,10502,0.089,0.000,2811,1905,1701,1780,1623,0,0,0,0,0,0,24.21,28.83,23.67
$GC,2625,0.93,146.6,2811,1905,1780,1614,153.0,8.6,493,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1905,1697,1780,1614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2815,0.93,146.6,2811,1905,1780,1613,136.3,8.7,530,2821,0.00,2.47,0.00,0.000,260,0.000,0.052,2811,3318,1696,1780,1612,0,0,0,0,0,0,28.83,24.39,28.83
$GC,2844,0.93,146.6,2811,3318,1780,1612,133.7,9.4,535,2851,0.00,2.50,0.00,0.000,1030,0.000,0.045,2811,1880,1695,1780,1611,0,0,0,0,0,0,28.83,24.40,28.83
$GC,3034,0.93,146.6,2811,1879,1779,1611,115.1,9.1,572,3041,0.00,2.55,0.00,0.000,516,0.000,0.062,2811,466,1695,1780,1611,0,0,0,0,0,0,28.83,24.39,28.83
$GC,3078,0.93,146.6,1760,466,1729,1604,110.1,12.0,580,3085,0.00,2.45,0.00,0.000,1030,0.000,0.035,2811,1912,1695,1779,1611,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3269,0.93,146.6,2811,1913,1780,1611,91.0,9.8,617,3276,0.00,2.58,0.00,0.000,516,0.000,0.060,2811,467,1695,1780,1611,0,0,0,0,0,0,28.83,24.42,28.83
$GC,3315,0.93,146.6,2811,467,1780,1611,85.8,11.7,625,3321,0.00,2.45,0.00,0.000,1030,0.000,0.035,2811,1915,1695,1780,1610,0,0,0,0,0,0,28.83,24.50,28.83
$GC,3505,0.93,146.6,1760,1914,1729,1604,65.8,10.0,662,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1916,1695,1780,1610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3694,0.94,153.5,2811,1916,1780,1610,49.2,7.7,699,3708,0.00,2.45,5.90,0.414,8452,0.000,0.049,2811,3315,1673,1758,1588,0,0,0,0,0,0,28.83,24.43,24.03
$GC,3750,0.94,153.5,1760,3314,1707,1580,44.8,8.4,709,3757,0.00,2.47,0.00,0.000,1030,0.000,0.044,2811,1880,1672,1757,1587,0,0,0,0,0,0,28.83,24.49,28.83
$GC,3882,0.94,157.0,2811,1879,1757,1587,34.7,7.9,734,3889,0.00,0.00,4.20,0.344,8198,0.000,0.000,2811,1879,1660,1746,1574,0,0,0,0,0,0,28.83,28.83,24.06
$GC,4014,0.94,159.9,2811,1879,1746,1574,24.0,7.9,759,4027,0.00,2.58,4.00,0.334,8708,0.000,0.060,2811,468,1647,1734,1561,0,0,0,0,0,0,28.83,24.44,24.07
$GC,4069,0.94,159.9,1760,468,1685,1554,19.1,9.7,769,4076,0.00,2.45,0.00,0.000,1030,0.000,0.036,2811,1917,1647,1734,1560,0,0,0,0,0,0,28.83,24.54,28.83
$GC,4201,0.97,184.1,2811,1917,1733,1560,8.7,7.1,794,4230,0.00,2.67,19.77,0.503,8964,0.000,0.059,2811,471,1548,1634,1463,0,0,0,0,0,0,28.83,24.25,23.85
$GC,4253,1.03,230.1,2811,471,1634,1463,5.3,6.3,803,4289,0.15,2.47,29.90,0.507,11266,0.081,0.036,2846,1920,1396,1481,1312,0,0,0,0,0,0,24.43,24.44,28.83
$STATE,4291,end climb,SURFACE_DEPTH_REACHED
$STATE,4291,begin surface coast
$FINISH,-0.0,1.020158
$STATE,4332,end surface coast,CONTROL_FINISHED_OK
$STATE,4334,begin surface
$SM_CCo,4354,46.17,0.054,0,0,1077,300.00
$SM_GC,0.92,10.18,0.50,46.17,0.044,0.047,0.054,597,2219,1077,-9.25,-0.42,300.00,0,0,0,0,0,0,24.42,24.44,24.39
$IRIDIUM_FIX,4726.11,-12219.67,190215,202035
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.42
$INTERNAL_PRESSURE,9.15227
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.1,60.4
$24V_AH,23.7,0.414
$10V_AH,10.4,0.263
$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,22.650,70.800,283.375,46.175,0.000,0.000,0.000,0.000,2.000,0.000,12.157,1801.738,867.507,435.225,1225.612,133.890,31.303,1086.283,0.000,1204.886,0.000,16.330,0.000
$DEVICE_MAMPS,159.120,117.045,623.475,53.550,0.000,0.000,0.000,0.000,420.000,0.000,30.710,12.060,2.190,12.060,38.280,45.020,64.490,14.900,0.000,14.980,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,577.851,693.189,698.426,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,11.240,68.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323332
$DATA_FILE_SIZE,57129,817
$CAP_FILE_SIZE,101704,0
$CFSIZE,260165632,259239936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190215,212207,4743.293,-12224.511,9,1.5,10,18.2