version: 66.11
glider: 130
mission: 24
dive: 15
start: 2 20 115 13 47 43
data:
$ID,130
$MISSION,24
$DIVE,15
$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,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,-173082.86
$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,2624
$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,2110
$C_ROLL_CLIMB,2030
$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,0
$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
$GPS1,200215,133255,4742.601,-12225.558,13,1.2,14,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-67.2
$GPS2,200215,134643,4742.676,-12225.640,16,1.3,16,18.2
$SPEED_LIMITS,0.114,0.185
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.125,0.136
$KALMAN_X,-2741.1,-75.2,-370.7,1427.0,-638.8
$KALMAN_Y,-4838.2,823.5,-766.2,4124.9,-642.0
$MHEAD_RNG_PITCHd_Wd,24.6,1542,-17.1,-8.000,-23.42,1863
$D_GRID,189
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.15,-97.8,598,2082,1122,1014,0.0,0.0,0,57,0.00,0.00,-38.33,0.000,16386,0.000,0.000,599,2082,2182,2221,2143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-1.15,-97.8,599,2082,2221,2143,2.1,-5.5,7,91,10.15,2.53,-14.85,0.000,18948,0.160,0.064,2367,688,2700,2752,2648,0,0,0,0,0,0,24.25,24.36,24.69
$GC,144,-1.15,-97.8,2366,688,2753,2648,8.2,-10.2,22,151,0.00,2.45,0.00,0.000,1030,0.000,0.034,2366,2126,2700,2753,2648,0,0,0,0,0,0,28.83,24.44,28.83
$GC,276,-1.15,-97.8,2366,2127,2754,2648,21.1,-6.8,47,283,0.00,2.47,0.00,0.000,260,0.000,0.054,2366,3530,2701,2754,2648,0,0,0,0,0,0,28.83,24.39,28.83
$GC,788,-1.15,-97.8,2366,3529,2754,2648,71.3,-9.4,148,795,0.00,2.45,0.00,0.000,1030,0.000,0.036,2366,2093,2701,2754,2648,0,0,0,0,0,0,28.83,24.53,28.83
$GC,978,-1.15,-97.8,2366,2093,2754,2648,84.8,-7.5,185,985,0.00,2.53,0.00,0.000,260,0.000,0.052,2366,3531,2701,2754,2648,0,0,0,0,0,0,28.83,24.48,28.83
$GC,1073,-1.15,-97.8,2366,3531,2754,2648,92.0,-8.0,203,1079,0.00,2.45,0.00,0.000,1030,0.000,0.037,2366,2094,2701,2754,2648,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1263,-1.15,-97.8,2366,2094,2754,2648,104.9,-7.8,240,1270,0.00,2.45,0.00,0.000,516,0.000,0.054,2366,688,2701,2754,2649,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1308,-1.15,-97.8,2366,688,2754,2648,108.7,-8.4,248,1314,0.00,2.45,0.00,0.000,1030,0.000,0.034,2366,2138,2701,2754,2648,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1498,-1.15,-97.8,2366,2138,2754,2648,127.1,-12.7,285,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2139,2701,2754,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1687,-1.15,-97.8,1408,2136,2693,2638,138.8,-5.1,322,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2138,2701,2755,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1877,-1.15,-97.8,2366,2138,2754,2648,150.9,-6.5,359,1884,0.00,2.42,0.00,0.000,260,0.000,0.055,2366,3528,2701,2754,2648,0,0,0,0,0,0,28.83,24.54,28.83
$GC,2063,-1.15,-97.8,2366,3528,2754,2648,164.6,-8.0,395,2070,0.00,2.42,0.00,0.000,1030,0.000,0.037,2366,2094,2701,2754,2648,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2254,-1.15,-97.8,2366,2094,2754,2648,178.2,-7.3,432,2261,0.00,2.53,0.00,0.000,260,0.000,0.055,2367,3527,2701,2754,2648,0,0,0,0,0,0,28.83,24.57,28.83
$STATE,2281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2281,begin apogee
$GC,2290,-0.30,0.0,2366,2011,2754,2648,180.3,-6.9,437,2373,0.95,0.03,73.97,0.591,10246,0.115,0.110,2551,2047,2299,2368,2231,0,0,0,0,0,0,24.52,23.97,23.67
$STATE,2374,end apogee,CONTROL_FINISHED_OK
$STATE,2374,begin climb
$GC,2377,1.15,97.8,2551,2047,2368,2231,182.5,0.0,452,2460,1.55,2.62,74.55,0.584,10756,0.091,0.055,2870,602,1900,1975,1825,0,0,0,0,0,0,24.18,24.06,23.64
$GC,2519,1.15,97.8,2870,602,1973,1824,170.4,11.6,478,2526,0.00,2.47,0.00,0.000,1030,0.000,0.034,2871,2049,1898,1973,1824,0,0,0,0,0,0,28.83,24.36,28.83
$GC,2710,1.15,97.8,2870,2049,1972,1821,150.6,10.4,515,2717,0.00,2.45,0.00,0.000,260,0.000,0.053,2870,3447,1896,1972,1820,0,0,0,0,0,0,28.83,24.38,28.83
$GC,2750,1.15,97.8,2870,3447,1972,1819,146.6,9.7,522,2757,0.00,2.47,0.00,0.000,1030,0.000,0.040,2871,2016,1895,1972,1819,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2940,1.15,97.8,2870,2016,1972,1818,127.7,9.6,559,2947,0.00,2.45,0.00,0.000,516,0.000,0.053,2871,609,1895,1972,1818,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3030,1.15,97.8,2870,609,1972,1818,116.9,13.1,576,3036,0.00,2.45,0.00,0.000,1030,0.000,0.034,2871,2052,1894,1971,1818,0,0,0,0,0,0,28.83,24.49,28.83
$GC,3220,1.15,97.8,1808,2051,1912,1809,94.6,11.7,613,3227,0.00,2.55,0.00,0.000,516,0.000,0.053,2871,602,1894,1971,1818,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3289,1.15,97.8,1824,602,1913,1810,85.4,13.6,626,3296,0.00,2.45,0.00,0.000,1030,0.000,0.033,2871,2049,1895,1973,1818,0,0,0,0,0,0,28.83,24.52,28.83
$GC,3479,1.15,97.8,2870,2049,1972,1818,63.9,10.7,663,3486,0.00,2.53,0.00,0.000,516,0.000,0.053,2871,609,1895,1972,1818,0,0,0,0,0,0,28.83,24.49,28.83
$GC,3534,1.15,97.8,2870,609,1972,1818,58.0,11.0,673,3540,0.00,2.42,0.00,0.000,1030,0.000,0.034,2870,2050,1894,1971,1818,0,0,0,0,0,0,28.83,24.55,28.83
$GC,3724,1.15,97.8,2870,2054,1972,1817,37.8,11.4,710,3731,0.00,2.55,0.00,0.000,516,0.000,0.052,2871,603,1895,1972,1818,0,0,0,0,0,0,28.83,24.51,28.83
$GC,3838,1.15,97.8,1808,602,1912,1809,23.0,13.4,732,3845,0.00,2.45,0.00,0.000,1030,0.000,0.034,2871,2050,1894,1971,1818,0,0,0,0,0,0,28.83,24.58,28.83
$GC,3969,1.15,97.8,2870,2049,1972,1817,10.2,8.4,757,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2050,1894,1972,1817,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4056,end climb,SURFACE_DEPTH_REACHED
$STATE,4057,begin surface coast
$FINISH,0.1,1.020742
$STATE,4099,end surface coast,CONTROL_FINISHED_OK
$STATE,4100,begin surface
$SM_CCo,4120,105.45,0.053,0,0,1077,300.00
$SM_GC,0.92,10.23,0.12,105.45,0.044,0.082,0.053,597,2144,1077,-9.27,-0.28,300.00,0,0,0,0,0,0,24.57,24.65,24.46
$IRIDIUM_FIX,4732.49,-12231.96,200215,131344
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.01
$INTERNAL_PRESSURE,9.1425
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.6,1.303
$10V_AH,10.4,0.996
$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,22.875,59.925,148.525,105.450,0.000,30.521,42.338,615.076,0.000,0.000,19.158,1767.186,874.725,373.616,1830.500,206.589,33.237,967.145,0.000,1154.522,0.000,0.535,0.000
$DEVICE_MAMPS,159.885,110.160,590.580,52.785,0.000,54.320,160.000,223.000,420.000,0.000,30.710,12.060,2.190,12.060,38.280,45.020,64.490,14.900,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.084,650.233,654.952,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,11.240,68.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323256
$DATA_FILE_SIZE,53651,782
$CAP_FILE_SIZE,81248,0
$CFSIZE,260165632,258637824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200215,145926,4742.774,-12225.594,24,2.7,45,18.2