version: 66.10
glider: 130
mission: 18
dive: 177
start: 5 5 113 18 4 0
data:
$ID,130
$MISSION,18
$DIVE,177
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,30
$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,430
$T_MISSION,537
$T_ABORT,1440
$T_TURN,225
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51990
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0028580001
$HD_B,0.0089408001
$HD_C,1.6100001e-05
$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,400
$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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-116470.02
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,650
$PITCH_MAX,3725
$C_PITCH,2892
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,240
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1500
$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,516
$VBD_MAX,3960
$C_VBD,2800
$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,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-9.9334097
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$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,0.0044015422
$SEABIRD_T_H,0.00063880393
$SEABIRD_T_I,2.4712466e-05
$SEABIRD_T_J,2.5684481e-06
$SEABIRD_C_G,-9.7931423
$SEABIRD_C_H,1.1029133
$SEABIRD_C_I,-0.001068091
$SEABIRD_C_J,0.00016957214
$GPS1,050513,175656,4437.077,-12450.477,63,2.8,82,17.5
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-61.7
$GPS2,050513,180336,4437.003,-12450.508,32,0.9,32,17.5
$SPEED_LIMITS,0.110,0.223
$TGT_NAME,iNH23
$TGT_LATLONG,4439.100,-12436.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,61.0,19505,-14.8,-7.674
$D_GRID,990
$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,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.20,-116.8,0.0,0.0,0,65,0.00,0.00,-46.42,0.000,2,0.000,0.000,645,1832,2397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-1.20,-116.8,2.4,-4.7,6,110,11.02,2.65,-21.45,0.000,4,0.151,0.080,2622,384,3277,0,0,0,0,0,0,24.45,24.51,24.83
$GC,227,-1.20,-116.8,29.4,-16.3,30,236,0.00,2.47,0.00,0.000,6,0.000,0.035,2477,1836,3278,0,0,0,0,0,0,28.83,24.65,28.83
$GC,328,-1.20,-116.8,46.1,-16.2,46,337,0.00,2.42,0.00,0.000,4,0.000,0.045,2622,3222,3278,0,0,0,0,0,0,28.83,24.63,28.83
$GC,363,-1.20,-116.8,52.0,-15.9,51,370,0.00,2.50,0.00,0.000,6,0.000,0.046,2622,1787,3278,0,0,0,0,0,0,28.83,24.63,28.83
$GC,525,-1.20,-116.8,76.8,-12.5,82,534,0.00,2.58,0.00,0.000,4,0.000,0.069,2621,384,3278,0,0,0,0,0,0,28.83,24.61,28.83
$GC,588,-1.20,-116.8,85.1,-13.2,93,595,0.00,2.42,0.00,0.000,6,0.000,0.034,2553,1846,3278,0,0,0,0,0,0,28.83,24.69,28.83
$GC,752,-1.20,-116.8,103.7,-11.3,124,761,0.00,2.40,0.00,0.000,4,0.000,0.044,2622,3223,3278,0,0,0,0,0,0,28.83,24.67,28.83
$GC,802,-1.20,-116.8,108.8,-10.7,132,811,0.00,2.53,0.00,0.000,6,0.000,0.046,2622,1791,3278,0,0,0,0,0,0,28.83,24.67,28.83
$GC,969,-1.20,-116.8,125.0,-9.9,163,976,0.00,2.55,0.00,0.000,4,0.000,0.069,2621,378,3278,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1016,-1.20,-116.8,129.8,-10.2,171,1024,0.00,2.42,0.00,0.000,6,0.000,0.034,2621,1842,3278,0,0,0,0,0,0,28.83,24.72,28.83
$GC,1184,-1.20,-116.8,146.0,-10.2,202,1192,0.00,2.40,0.00,0.000,4,0.000,0.044,2621,3222,3278,0,0,0,0,0,0,28.83,24.70,28.83
$GC,1206,-1.20,-116.8,148.0,-10.2,205,1212,0.00,2.47,0.00,0.000,6,0.000,0.045,2622,1787,3278,0,0,0,0,0,0,28.83,24.68,28.83
$GC,1385,-1.20,-116.8,165.8,-10.0,211,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1787,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1593,-1.20,-116.8,187.7,-10.5,215,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1786,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1801,-1.20,-116.8,210.4,-10.9,219,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1786,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2009,-1.20,-116.8,232.3,-10.6,223,2014,0.00,2.55,0.00,0.000,4,0.000,0.070,2622,372,3278,0,0,0,0,0,0,28.83,24.69,28.83
$GC,2046,-1.20,-116.8,232.3,-10.6,223,2052,0.00,2.45,0.00,0.000,6,0.000,0.035,2545,1840,3278,0,0,0,0,0,0,28.83,24.76,28.83
$GC,2323,-1.20,-116.8,265.0,-10.3,228,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1845,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2637,-1.20,-116.8,295.4,-9.8,231,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1845,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2948,-1.20,-116.8,324.4,-9.4,234,2952,0.00,2.62,0.00,0.000,4,0.000,0.072,2622,382,3278,0,0,0,0,0,0,28.83,24.71,28.83
$GC,2989,-1.20,-116.8,324.4,-9.4,234,2993,0.00,2.42,0.00,0.000,6,0.000,0.037,2609,1830,3278,0,0,0,0,0,0,28.83,24.78,28.83
$STATE,3357,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3358,begin apogee
$GC,3364,-0.36,0.0,364.7,-9.8,238,3469,0.90,0.00,99.53,0.737,6,0.088,0.000,2807,1489,2799,0,0,0,0,0,0,24.73,28.83,23.68
$STATE,3470,end apogee,CONTROL_FINISHED_OK
$STATE,3470,begin climb
$GC,3473,1.20,116.8,366.3,0.0,239,3579,1.58,0.00,100.88,0.715,6,0.059,0.000,3147,1489,2323,0,0,0,0,0,0,24.22,28.83,23.67
$GC,3970,1.20,116.8,329.2,8.7,244,3975,0.00,2.33,0.00,0.000,4,0.000,0.080,3147,240,2315,0,0,0,0,0,0,28.83,24.51,28.83
$GC,4023,1.20,116.8,329.2,8.7,244,4027,0.00,2.17,0.00,0.000,6,0.000,0.040,3147,1526,2313,0,0,0,0,0,0,28.83,24.62,28.83
$GC,4377,1.20,116.8,292.2,9.0,248,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1526,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4691,1.20,116.8,268.3,7.8,251,4697,0.00,2.38,0.00,0.000,4,0.000,0.080,3147,249,2312,0,0,0,0,0,0,28.83,24.58,28.83
$GC,4763,1.20,116.8,268.3,7.8,251,4767,0.00,2.15,0.00,0.000,6,0.000,0.039,3148,1529,2311,0,0,0,0,0,0,28.83,24.70,28.83
$GC,5097,1.22,128.8,237.9,7.1,256,5109,0.00,0.00,10.00,0.594,6,0.000,0.000,3147,1530,2274,0,0,0,0,0,0,28.83,28.83,24.07
$GC,5305,1.22,128.8,220.8,8.3,260,5311,0.00,2.38,0.00,0.000,4,0.000,0.080,3147,242,2272,0,0,0,0,0,0,28.83,24.57,28.83
$GC,5439,1.22,128.8,211.0,9.1,262,5443,0.00,2.17,0.00,0.000,6,0.000,0.040,3147,1536,2272,0,0,0,0,0,0,28.83,24.71,28.83
$GC,5661,1.22,128.8,190.3,7.9,267,5667,0.00,2.35,0.00,0.000,4,0.000,0.043,3147,2930,2271,0,0,0,0,0,0,28.83,24.69,28.83
$GC,5703,1.22,128.8,190.3,7.9,267,5709,0.00,2.53,0.00,0.000,6,0.000,0.054,3147,1493,2271,0,0,0,0,0,0,28.83,24.68,28.83
$GC,5918,1.22,135.7,171.6,7.4,272,5931,0.00,2.47,7.45,0.526,4,0.000,0.041,3147,2930,2244,0,0,0,0,0,0,28.83,24.55,24.18
$GC,5957,1.23,142.5,171.6,7.4,272,5971,0.00,2.58,7.72,0.529,6,0.000,0.054,3147,1497,2217,0,0,0,0,0,0,28.83,24.58,24.08
$GC,6174,1.26,165.3,154.8,6.6,277,6197,0.00,0.00,21.02,0.589,6,0.000,0.000,3147,1497,2126,0,0,0,0,0,0,28.83,28.83,23.92
$GC,6371,1.26,165.3,138.1,9.8,298,6380,0.00,2.35,0.00,0.000,4,0.000,0.080,3147,248,2122,0,0,0,0,0,0,28.83,24.55,28.83
$GC,6454,1.26,165.3,129.2,11.2,313,6460,0.00,2.17,0.00,0.000,6,0.000,0.039,3147,1527,2121,0,0,0,0,0,0,28.83,24.68,28.83
$GC,6616,1.26,165.3,114.6,9.3,344,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1528,2121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6781,1.26,165.3,100.0,9.4,375,6788,0.00,2.38,0.00,0.000,4,0.000,0.078,3147,241,2121,0,0,0,0,0,0,28.83,24.62,28.83
$GC,6838,1.26,165.3,94.0,9.8,385,6844,0.00,2.17,0.00,0.000,6,0.000,0.039,3147,1537,2120,0,0,0,0,0,0,28.83,24.73,28.83
$GC,7000,1.27,170.0,80.6,7.5,416,7010,0.00,2.45,5.03,0.431,4,0.000,0.042,3147,2930,2105,0,0,0,0,0,0,28.83,24.62,24.27
$GC,7093,1.27,170.0,73.2,8.0,433,7100,0.00,2.53,0.00,0.000,6,0.000,0.053,3148,1489,2105,0,0,0,0,0,0,28.83,24.65,28.83
$GC,7256,1.32,215.0,62.2,5.6,464,7306,0.12,2.38,40.33,0.545,4,0.063,0.078,3191,247,1923,0,0,0,0,0,0,24.78,24.15,23.87
$GC,7395,1.32,215.0,51.5,7.9,488,7403,0.00,2.20,0.00,0.000,6,0.000,0.039,3191,1525,1920,0,0,0,0,0,0,28.83,24.60,28.83
$GC,7585,1.35,240.4,39.3,6.5,519,7618,0.00,2.45,22.92,0.518,4,0.000,0.078,3191,249,1818,0,0,0,0,0,0,28.83,24.22,23.96
$GC,7646,1.35,240.4,34.5,8.5,527,7654,0.00,2.20,0.00,0.000,6,0.000,0.038,3191,1526,1818,0,0,0,0,0,0,28.83,24.52,28.83
$GC,7747,1.36,242.6,26.8,7.6,543,7756,0.00,2.42,0.00,0.000,4,0.000,0.078,3191,241,1817,0,0,0,0,0,0,28.83,24.52,28.83
$GC,7771,1.36,242.6,24.6,8.6,546,7780,0.00,2.20,0.00,0.000,6,0.000,0.039,3191,1525,1817,0,0,0,0,0,0,28.83,24.65,28.83
$GC,7872,1.40,279.3,17.0,6.0,562,7930,0.00,2.50,46.03,0.407,4,0.000,0.041,3191,2929,1660,0,0,0,0,1,0,28.83,24.23,23.89
$GC,7993,1.42,293.7,9.4,7.0,579,8033,0.00,2.58,25.15,0.304,6,0.000,0.054,3191,1494,1600,0,0,0,0,1,0,28.83,24.50,23.99
$STATE,8081,end climb,SURFACE_DEPTH_REACHED
$STATE,8081,begin surface coast
$FINISH,0.0,1.018966
$STATE,8138,end surface coast,CONTROL_FINISHED_OK
$STATE,8138,begin surface
$SM_CCo,8160,66.93,0.065,0,0,1169,400.08
$SM_GC,0.91,11.12,0.57,66.93,0.028,0.042,0.065,644,1824,1169,-10.27,-0.31,400.08,0,0,0,0,0,0,24.60,24.60,24.48
$IRIDIUM_FIX,4408.15,-12444.95,050513,151513
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.25
$INTERNAL_PRESSURE,8.97374
$TCM_TEMP,12.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,354.7,16.9
$24V_AH,23.7,21.676
$10V_AH,10.2,22.358
$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,24.750,97.550,386.050,66.925,0.000,25.923,39.451,198.841,13.500,0.000,33.630,1484.605,4127.775,496.483,2288.123,226.979,0.000,1279.721,0.000,1967.951,0.000,92.130,0.000
$DEVICE_MAMPS,150.705,79.560,737.460,65.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,437.153,453.001,1304.583,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345900
$DATA_FILE_SIZE,33667,601
$CAP_FILE_SIZE,97097,0
$CFSIZE,260165632,247889920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,050513,202224,4436.735,-12449.392,43,1.5,43,17.5