version: 66.12
glider: 130
mission: 32
dive: 6
start: 3 28 116 23 39 58
data:
$ID,130
$MISSION,32
$DIVE,6
$N_DIVES,20
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,190
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$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,65
$T_MISSION,75
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52055
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.00285829
$HD_B,0.0114352
$HD_C,1.30115e-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,280
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,6
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$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,2657
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,15
$PITCH_TIMEOUT,19
$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,2170
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,1613
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$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,5
$AH0_24V,92
$AH0_10V,97
$MINV_24V,18
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-10.063459
$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,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.1
$DEEPGLIDER,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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043493826
$SEABIRD_T_H,0.00063626212
$SEABIRD_T_I,2.5578438e-05
$SEABIRD_T_J,2.8240738e-06
$SEABIRD_C_G,-10.043513
$SEABIRD_C_H,1.1284032
$SEABIRD_C_I,-0.0020332292
$SEABIRD_C_J,0.0002405866
$GPS1,280316,233303,4743.2700,-12224.6201,9,1.7,31,18.2,0.5,173.4,8,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-57.1
$GPS2,280316,233857,4743.2085,-12224.6465,13,1.2,40,18.2,0.4,290.6,8,5.7
$SPEED_LIMITS,0.097,0.192
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.081176,0.173800
$KALMAN_X,382.068726,460.111816,107.302704,-1232.067993,-246.324249
$KALMAN_Y,446.784393,289.427368,30.747957,-156.679123,6.638420
$MHEAD_RNG_PITCHd_Wd,6.8,2399,-23.3,-9.744,-26.93,1384
$D_GRID,177
$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,-1.59,-87.6,603,2173,579,412,0.0,0.0,0,65,0.00,0.00,-45.70,0.000,16386,0.000,0.000,602,2174,1903,1936,1871,0,0,0,0,0,0,24.80,28.83,24.82
$GC,68,-1.59,-87.6,602,2174,1937,1870,2.4,-5.2,6,86,9.48,2.62,-1.35,0.000,18948,0.151,1.242,2300,754,1962,2011,1914,0,0,0,0,0,0,24.35,23.70,24.46
$GC,101,-1.59,-87.6,2299,753,2014,1915,7.0,-12.4,10,110,0.00,2.47,0.00,0.000,1030,0.000,0.041,2300,2173,1964,2014,1914,0,0,0,0,0,0,24.51,24.47,24.53
$GC,250,-1.59,-87.6,2299,2173,2015,1914,22.6,-10.1,35,259,0.00,2.58,0.00,0.000,516,0.000,0.058,2300,758,1964,2015,1914,0,0,0,0,0,0,24.83,24.52,24.84
$GC,313,-1.59,-87.6,2299,758,2016,1914,30.1,-11.2,45,322,0.00,2.45,0.00,0.000,1030,0.000,0.041,2300,2168,1964,2015,1914,0,0,0,0,0,0,24.62,24.59,24.64
$GC,463,-1.59,-87.6,2299,2168,2016,1913,45.3,-10.1,70,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2168,1964,2015,1913,0,0,0,0,0,0,24.86,24.88,24.88
$GC,610,-1.59,-87.6,2299,2168,2015,1913,61.0,-10.6,95,617,0.00,2.47,0.00,0.000,260,0.000,0.057,2300,3577,1964,2016,1913,0,0,0,0,0,0,24.88,24.59,24.90
$GC,832,-1.59,-87.6,2299,3577,2016,1911,84.3,-10.7,134,840,0.00,2.47,0.00,0.000,1030,0.000,0.043,2300,2165,1964,2016,1912,0,0,0,0,0,0,24.68,24.63,24.70
$GC,1051,-1.59,-87.6,2299,2164,2016,1911,106.6,-9.8,171,1058,0.00,2.50,0.00,0.000,260,0.000,0.056,2300,3578,1963,2016,1911,0,0,0,0,0,0,24.92,24.64,24.94
$GC,1136,-1.59,-87.6,2299,3579,2015,1911,114.0,-8.2,185,1142,0.00,2.42,0.00,0.000,1030,0.000,0.042,2300,2164,1963,2016,1911,0,0,0,0,0,0,24.74,24.65,24.75
$GC,1356,-1.59,-87.6,2299,2163,2016,1911,131.5,-7.4,222,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2163,1963,2015,1911,0,0,0,0,0,0,24.96,24.98,24.97
$GC,1574,-1.59,-87.6,2299,2164,2016,1911,149.4,-8.6,259,1580,0.00,2.47,0.00,0.000,516,0.000,0.059,2300,761,1963,2015,1911,0,0,0,0,0,0,24.98,24.67,24.99
$GC,1638,-1.59,-87.6,2299,761,2016,1911,155.9,-9.0,270,1647,0.00,2.42,0.00,0.000,1030,0.000,0.041,2299,2170,1963,2016,1911,0,0,0,0,0,0,24.76,24.72,24.78
$GC,1855,-1.59,-87.6,2299,2170,2016,1911,173.7,-8.9,307,1861,0.00,2.47,0.00,0.000,260,0.000,0.057,2300,3584,1963,2016,1911,0,0,0,0,0,0,25.00,24.70,25.01
$STATE,1892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1892,begin apogee
$GC,1901,-0.33,0.0,2300,2170,2016,1910,177.3,-9.7,313,1981,1.40,0.00,68.68,0.627,10246,0.114,0.000,2577,2170,1612,1682,1543,0,0,0,0,0,0,24.60,24.08,23.79
$STATE,1981,end apogee,CONTROL_FINISHED_OK
$STATE,1982,begin climb
$GC,1984,1.59,87.6,2577,2170,1682,1543,180.1,0.0,325,2065,1.98,2.55,68.47,0.611,10756,0.083,0.060,2994,778,1263,1337,1189,0,0,0,0,0,0,24.32,24.06,23.77
$GC,2126,1.59,87.6,2993,779,1334,1188,165.7,15.1,347,2133,0.00,2.40,0.00,0.000,1030,0.000,0.041,2994,2180,1261,1334,1188,0,0,0,0,0,0,24.53,24.46,24.55
$GC,2342,1.59,87.6,2993,2180,1334,1183,135.2,13.1,384,2351,0.00,2.58,0.00,0.000,516,0.000,0.061,2993,777,1258,1334,1183,0,0,0,0,0,0,24.79,24.49,24.81
$GC,2456,1.59,87.6,2993,777,1332,1182,118.1,15.8,403,2462,0.00,2.42,0.00,0.000,1030,0.000,0.041,2994,2187,1257,1332,1183,0,0,0,0,0,0,24.63,24.56,24.65
$GC,2671,1.59,87.6,2993,2187,1332,1181,87.9,14.3,440,2679,0.00,2.58,0.00,0.000,516,0.000,0.060,2994,773,1256,1332,1181,0,0,0,0,0,0,24.85,24.54,24.87
$GC,2773,1.59,87.6,2993,773,1331,1181,73.1,14.2,457,2779,0.00,2.40,0.00,0.000,1030,0.000,0.041,2994,2181,1256,1331,1181,0,0,0,0,0,0,24.68,24.60,24.70
$GC,2990,1.59,87.6,2993,2181,1331,1180,43.1,12.8,494,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2181,1255,1331,1180,0,0,0,0,0,0,24.89,24.91,24.91
$GC,3138,1.59,87.6,2993,2181,1331,1180,24.7,10.9,519,3147,0.00,2.55,0.00,0.000,516,0.000,0.061,2994,778,1255,1331,1180,0,0,0,0,0,0,24.91,24.59,24.93
$GC,3253,1.59,87.6,2993,778,1331,1180,11.1,12.2,538,3261,0.00,2.45,0.00,0.000,1030,0.000,0.042,2994,2186,1255,1331,1180,0,0,0,0,0,0,24.70,24.66,24.72
$STATE,3325,end climb,SURFACE_DEPTH_REACHED
$STATE,3325,begin surface coast
$FINISH,0.1,1.021199
$STATE,3355,end surface coast,CONTROL_FINISHED_OK
$STATE,3355,begin surface
$SM_CCo,3376,117.43,0.503,0,0,499,279.59
$SM_CCo,3497,-0.08,0.000,0,0,501,279.59
$SM_CCo,3502,0.08,0.174,0,0,500,279.59
$SM_GC,0.99,10.70,0.00,0.08,0.044,0.000,0.174,602,2189,500,-9.38,0.54,279.59,0,0,0,0,0,0,24.65,24.95,24.27
$IRIDIUM_FIX,4722.92,-12220.67,280316,222906
$TT8_MAMPS,0.024717,0.217959
$HUMID,46.73
$INTERNAL_PRESSURE,8.99093
$TCM_TEMP,13.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.2,67.6
$24V_AH,23.55,0.537
$10V_AH,10.31,0.409
$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,23.550,49.775,137.150,117.500,0.000,24.768,53.300,147.941,1.500,0.000,42.667,1276.787,345.207,337.481,1781.301,129.830,33.447,839.363,0.000,1514.006,0.000,11.880,0.000
$DEVICE_MAMPS,150.705,1242.360,626.535,503.370,0.000,58.140,160.000,223.000,420.000,0.000,31.460,11.960,2.190,11.960,38.180,44.170,62.900,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,380.671,1143.890,1155.494,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,19.470,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312728
$DATA_FILE_SIZE,37138,555
$CAP_FILE_SIZE,61218,0
$CFSIZE,260165632,258555904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290316,003933,4743.239,-12224.492,10,1.6,31,18.2,0.2,232.3,8,5.1