version: 66.11
glider: 130
mission: 24
dive: 10
start: 2 20 115 6 31 23
data:
$ID,130
$MISSION,24
$DIVE,10
$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,0
$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,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,-173073.03
$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,16.5
$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,15
$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
$GPS1,200215,062035,4744.716,-12224.708,32,1.0,32,18.2
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-66.5
$GPS2,200215,063024,4744.773,-12224.816,13,1.7,18,18.2
$SPEED_LIMITS,0.114,0.185
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.041,-0.180
$KALMAN_X,-625.8,-33.0,111.4,-183.7,157.3
$KALMAN_Y,-2579.7,-53.5,237.0,5632.4,1056.0
$MHEAD_RNG_PITCHd_Wd,174.8,3308,-17.1,-8.000,-23.42,1863
$D_GRID,180
$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,-1.15,-97.8,600,2172,1124,1015,0.0,0.0,0,57,0.00,0.00,-38.00,0.000,16386,0.000,0.000,600,2172,2174,2213,2136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-1.15,-97.8,600,2172,2214,2136,2.0,-5.3,7,96,10.05,2.55,-15.10,0.000,18948,0.158,0.064,2360,770,2699,2750,2649,0,0,0,0,0,0,24.25,24.38,24.70
$GC,310,-1.15,-97.8,2360,770,2752,2649,30.2,-12.4,55,317,0.00,2.47,0.00,0.000,1030,0.000,0.036,2360,2213,2700,2751,2649,0,0,0,0,0,0,28.83,24.48,28.83
$GC,442,-1.15,-97.8,2360,2212,2752,2649,41.2,-5.4,80,448,0.00,2.53,0.00,0.000,516,0.000,0.050,2360,779,2700,2752,2649,0,0,0,0,0,0,28.83,24.46,28.83
$GC,562,-1.15,-97.8,2360,779,2752,2649,48.9,-7.9,103,568,0.00,2.45,0.00,0.000,1030,0.000,0.036,2360,2213,2701,2753,2649,0,0,0,0,0,0,28.83,24.51,28.83
$GC,693,-1.15,-97.8,2360,2213,2753,2649,58.7,-6.4,128,700,0.00,2.50,0.00,0.000,260,0.000,0.059,2360,3619,2701,2753,2649,0,0,0,0,0,0,28.83,24.42,28.83
$GC,788,-1.15,-97.8,2360,3619,2753,2649,65.4,-7.7,146,795,0.00,2.45,0.00,0.000,1030,0.000,0.037,2360,2179,2701,2753,2649,0,0,0,0,0,0,28.83,24.53,28.83
$GC,979,-1.15,-97.8,2360,2179,2753,2649,79.5,-7.8,183,986,0.00,2.42,0.00,0.000,516,0.000,0.052,2360,779,2701,2754,2649,0,0,0,0,0,0,28.83,24.51,28.83
$GC,1083,-1.15,-97.8,1408,778,2690,2638,86.7,-7.0,203,1090,0.00,2.42,0.00,0.000,1030,0.000,0.036,2360,2214,2700,2752,2648,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1274,-1.15,-97.8,2360,2214,2753,2649,101.3,-6.8,240,1281,0.00,2.53,0.00,0.000,516,0.000,0.050,2360,770,2701,2753,2649,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1462,-1.15,-97.8,2360,768,2753,2649,115.2,-5.1,276,1469,0.00,2.47,0.00,0.000,1030,0.000,0.037,2360,2216,2701,2753,2649,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1653,-1.15,-97.8,2361,2216,2754,2649,122.6,-3.5,313,1660,0.00,2.50,0.00,0.000,516,0.000,0.052,2360,779,2700,2753,2648,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1698,-1.15,-97.8,2360,779,2754,2649,124.6,-4.7,321,1705,0.00,2.42,0.00,0.000,1030,0.000,0.036,2360,2212,2700,2753,2648,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1891,-1.15,-97.8,2360,2215,2754,2648,132.2,-4.1,358,1898,0.00,2.47,0.00,0.000,260,0.000,0.058,2360,3614,2701,2754,2648,0,0,0,0,0,0,28.83,24.51,28.83
$GC,2144,-1.15,-97.8,2359,3615,2753,2648,149.2,-7.6,407,2151,0.00,2.42,0.00,0.000,1030,0.000,0.038,2360,2186,2701,2753,2649,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2335,-1.15,-97.8,2360,2185,2754,2648,164.5,-9.1,444,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2186,2701,2753,2649,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2512,begin apogee
$GC,2519,-0.30,0.0,2360,1870,2754,2648,180.1,-7.2,479,2597,0.95,0.05,73.70,0.604,10246,0.125,0.146,2541,1919,2300,2369,2232,0,0,0,0,0,0,24.53,24.03,23.66
$STATE,2598,end apogee,CONTROL_FINISHED_OK
$STATE,2598,begin climb
$GC,2601,1.15,97.8,2541,1920,2369,2231,183.2,0.0,493,2684,1.55,2.70,74.65,0.584,10756,0.093,0.058,2863,473,1901,1975,1827,0,0,0,0,0,0,24.15,24.06,23.65
$GC,2723,1.15,97.8,2863,472,1974,1826,172.6,12.4,515,2729,0.00,2.45,0.00,0.000,1030,0.000,0.034,2863,1911,1900,1974,1826,0,0,0,0,0,0,28.83,24.33,28.83
$GC,2913,1.15,97.8,1808,1913,1914,1813,152.6,10.2,552,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1914,1897,1973,1821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3102,1.15,97.8,2863,1915,1973,1820,133.2,12.9,589,3109,0.00,2.42,0.00,0.000,260,0.000,0.050,2863,3310,1896,1973,1820,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3192,1.15,97.8,2863,3310,1972,1818,121.2,12.7,606,3198,0.00,2.50,0.00,0.000,1030,0.000,0.042,2863,1873,1895,1972,1818,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3382,1.15,97.8,2863,1873,1972,1818,96.3,12.9,643,3389,0.00,2.50,0.00,0.000,516,0.000,0.060,2863,465,1895,1972,1818,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3447,1.15,97.8,2863,465,1973,1818,87.8,12.9,655,3453,0.00,2.45,0.00,0.000,1030,0.000,0.034,2863,1912,1895,1973,1818,0,0,0,0,0,0,28.83,24.51,28.83
$GC,3637,1.15,97.8,2863,1913,1972,1818,64.3,11.8,692,3644,0.00,2.58,0.00,0.000,516,0.000,0.057,2863,467,1894,1972,1817,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3737,1.15,97.8,2863,467,1972,1817,51.0,11.7,711,3743,0.00,2.45,0.00,0.000,1030,0.000,0.034,2863,1916,1895,1972,1818,0,0,0,0,0,0,28.83,24.53,28.83
$GC,3928,1.19,128.6,2863,1916,1972,1817,35.4,6.3,748,3956,0.00,0.00,23.58,0.506,8198,0.000,0.000,2863,1916,1775,1853,1697,0,0,0,0,0,0,28.83,28.83,23.80
$GC,4081,1.22,150.8,2864,1916,1853,1695,23.1,6.8,777,4105,0.00,2.67,17.98,0.481,8708,0.000,0.057,2863,472,1685,1764,1607,0,0,0,0,0,0,28.83,24.22,23.83
$GC,4173,1.22,150.8,2863,472,1764,1607,14.0,11.9,794,4179,0.00,2.45,0.00,0.000,1030,0.000,0.034,2863,1910,1685,1764,1606,0,0,0,0,0,0,28.83,24.46,28.83
$STATE,4289,end climb,SURFACE_DEPTH_REACHED
$STATE,4289,begin surface coast
$FINISH,0.0,1.020656
$STATE,4332,end surface coast,CONTROL_FINISHED_OK
$STATE,4332,begin surface
$SM_CCo,4353,80.40,0.053,0,0,1077,300.00
$SM_GC,0.88,10.23,0.52,80.40,0.046,0.046,0.053,601,2227,1077,-9.22,-0.25,300.00,0,0,0,0,0,0,24.49,24.53,24.42
$IRIDIUM_FIX,4719.74,-12242.00,200215,060622
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.74
$INTERNAL_PRESSURE,9.1425
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.3,68.7
$24V_AH,23.6,0.916
$10V_AH,10.4,0.700
$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,22.775,60.975,189.900,80.400,0.000,29.494,42.890,380.105,2.500,0.000,22.179,1856.394,909.606,378.498,1698.402,177.455,33.225,1005.594,0.000,1217.572,0.000,19.503,0.000
$DEVICE_MAMPS,158.355,146.115,604.350,52.785,0.000,54.320,160.000,223.000,420.000,0.000,30.710,12.060,2.190,12.060,38.280,45.020,64.490,14.900,0.000,14.980,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,583.073,691.169,696.989,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,11.240,68.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323272
$DATA_FILE_SIZE,57077,825
$CAP_FILE_SIZE,83073,0
$CFSIZE,260165632,258887680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200215,074601,4744.680,-12224.826,11,1.7,12,18.2