version: 66.11
glider: 130
mission: 19
dive: 12
start: 12 19 113 4 17 29
data:
$ID,130
$MISSION,19
$DIVE,12
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,4
$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,80
$T_ABORT,1440
$T_TURN,225
$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,51967
$MASS_COMP,0
$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,200
$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,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-118564.88
$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,2998
$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,1750
$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,2050
$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,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,-9.3370571
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$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
$DEVICE2,20
$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,0.004404821
$SEABIRD_T_H,0.00064488029
$SEABIRD_T_I,2.8507879e-05
$SEABIRD_T_J,3.3644449e-06
$SEABIRD_C_G,-9.8029137
$SEABIRD_C_H,1.1050078
$SEABIRD_C_I,-0.0015785076
$SEABIRD_C_J,0.00020331096
$GPS1,191213,040902,4743.160,-12224.784,12,3.1,32,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-64.0
$GPS2,191213,041702,4743.191,-12224.816,10,2.9,30,18.2
$SPEED_LIMITS,0.114,0.249
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$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,160.5,909,-13.5,-8.000,-17.81,2730
$D_GRID,100
$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,-1.14,-146.6,648,1785,1287,1172,0.0,0.0,0,45,0.00,0.00,-26.95,0.000,16386,0.000,0.000,648,1785,2055,2094,2016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-1.14,-146.6,648,1785,2094,2016,2.3,-4.7,5,84,12.07,2.58,-15.45,0.000,19204,0.164,0.081,2739,379,2649,2702,2596,0,0,0,0,0,0,24.41,24.49,24.85
$GC,91,-1.14,-146.6,2738,379,2702,2596,5.5,-5.8,12,98,0.00,2.47,0.00,0.000,1030,0.000,0.041,2739,1834,2649,2702,2596,0,0,0,0,0,0,28.83,24.58,28.83
$GC,161,-1.14,-146.6,2738,1834,2702,2596,12.3,-9.6,25,167,0.00,2.65,0.00,0.000,516,0.000,0.070,2739,381,2649,2702,2596,0,0,0,0,0,0,28.83,24.53,28.83
$GC,396,-1.14,-146.6,2738,381,2702,2596,39.6,-12.2,71,403,0.00,2.47,0.00,0.000,1030,0.000,0.041,2738,1829,2649,2702,2596,0,0,0,0,0,0,28.83,24.67,28.83
$GC,466,-1.14,-146.6,2738,1830,2702,2596,47.3,-10.3,84,472,0.00,2.62,0.00,0.000,516,0.000,0.069,2739,382,2649,2702,2596,0,0,0,0,0,0,28.83,24.59,28.83
$GC,570,-1.14,-146.6,2739,382,2702,2596,59.6,-12.2,104,577,0.00,2.45,0.00,0.000,1030,0.000,0.040,2739,1833,2649,2702,2596,0,0,0,0,0,0,28.83,24.68,28.83
$GC,699,-1.14,-146.6,2739,1833,2702,2596,73.7,-10.9,129,706,0.00,2.40,0.00,0.000,260,0.000,0.049,2738,3233,2649,2702,2596,0,0,0,0,0,0,28.83,24.67,28.83
$GC,719,-1.14,-146.6,2738,3233,2702,2596,75.7,-10.9,132,725,0.00,2.50,0.00,0.000,1030,0.000,0.048,2739,1790,2649,2702,2596,0,0,0,0,0,0,28.83,24.66,28.83
$GC,848,-1.14,-146.6,2738,1790,2702,2596,88.9,-10.3,157,855,0.00,2.47,0.00,0.000,260,0.000,0.048,2738,3225,2649,2702,2596,0,0,0,0,0,0,28.83,24.68,28.83
$GC,913,-1.14,-146.6,2738,3225,2701,2596,95.5,-8.6,169,919,0.00,2.50,0.00,0.000,1030,0.000,0.049,2738,1791,2649,2702,2596,0,0,0,0,0,0,28.83,24.68,28.83
$STATE,964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,964,begin apogee
$GC,970,-0.36,0.0,2738,1736,2702,2596,100.1,-9.7,178,1089,0.85,0.00,109.75,0.436,10246,0.103,0.000,2912,1735,2049,2129,1970,0,0,0,0,0,0,24.63,28.83,23.89
$STATE,1090,end apogee,CONTROL_FINISHED_OK
$STATE,1090,begin climb
$GC,1094,1.14,146.6,2911,1736,2129,1970,106.2,0.0,200,1215,1.58,2.70,111.00,0.429,11012,0.083,0.074,3243,337,1451,1541,1361,0,0,0,0,0,0,24.31,24.16,23.87
$GC,1235,1.14,146.6,3243,337,1540,1361,99.2,8.8,225,1241,0.00,2.47,0.00,0.000,1030,0.000,0.039,3243,1780,1450,1540,1361,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1366,1.14,146.6,3243,1780,1540,1357,88.2,8.1,250,1372,0.00,2.42,0.00,0.000,260,0.000,0.048,3243,3180,1448,1540,1357,0,0,0,0,0,0,28.83,24.49,28.83
$GC,1415,1.14,146.6,3243,3180,1540,1356,84.0,8.1,259,1422,0.00,2.55,0.00,0.000,1030,0.000,0.051,3243,1735,1447,1540,1355,0,0,0,0,0,0,28.83,24.51,28.83
$GC,1547,1.16,160.3,3243,1735,1540,1355,74.1,7.5,284,1565,0.00,2.53,11.35,0.371,8452,0.000,0.047,3243,3175,1395,1488,1303,0,0,0,0,0,0,28.83,24.41,24.08
$GC,1598,1.16,160.3,3243,3175,1488,1303,69.9,8.3,293,1604,0.00,2.53,0.00,0.000,1030,0.000,0.051,3243,1743,1395,1488,1302,0,0,0,0,0,0,28.83,24.50,28.83
$GC,1729,1.16,160.3,3243,1742,1488,1302,58.8,8.9,318,1735,0.00,2.58,0.00,0.000,516,0.000,0.073,3243,336,1395,1488,1302,0,0,0,0,0,0,28.83,24.49,28.83
$GC,1823,1.16,160.3,3243,335,1488,1302,49.1,11.0,336,1830,0.00,2.47,0.00,0.000,1030,0.000,0.040,3243,1785,1395,1488,1302,0,0,0,0,0,0,28.83,24.62,28.83
$GC,1893,1.16,160.3,3243,1785,1489,1302,43.0,8.4,349,1900,0.00,2.65,0.00,0.000,516,0.000,0.072,3243,337,1394,1488,1301,0,0,0,0,0,0,28.83,24.52,28.83
$GC,1938,1.16,160.3,3243,337,1488,1302,39.0,9.3,357,1944,0.00,2.45,0.00,0.000,1030,0.000,0.040,3243,1778,1395,1488,1302,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2007,1.18,175.8,3243,1778,1488,1301,33.5,7.4,370,2031,0.00,2.75,13.30,0.360,8708,0.000,0.072,3243,334,1332,1427,1238,0,0,0,0,0,0,28.83,24.39,24.12
$GC,2048,1.18,175.8,2208,334,1396,1235,30.0,9.0,377,2054,0.00,2.45,0.00,0.000,1030,0.000,0.039,3243,1778,1332,1427,1238,0,0,0,0,0,0,28.83,24.54,28.83
$GC,2117,1.18,175.8,3243,1779,1427,1238,23.7,9.2,390,2124,0.00,2.65,0.00,0.000,516,0.000,0.073,3243,335,1332,1427,1238,0,0,0,0,0,0,28.83,24.51,28.83
$GC,2137,1.18,175.8,3243,335,1427,1239,21.9,9.5,393,2143,0.00,2.45,0.00,0.000,1030,0.000,0.039,3243,1777,1332,1427,1238,0,0,0,0,0,0,28.83,24.60,28.83
$GC,2206,1.18,175.8,3243,1781,1427,1238,15.3,9.5,406,2213,0.00,2.67,0.00,0.000,516,0.000,0.074,3243,331,1332,1426,1238,0,0,0,0,0,0,28.83,24.53,28.83
$GC,2275,1.18,175.8,3243,331,1427,1238,8.4,9.0,419,2282,0.00,2.45,0.00,0.000,1030,0.000,0.039,3243,1783,1332,1427,1238,0,0,0,0,0,0,28.83,24.65,28.83
$STATE,2342,end climb,SURFACE_DEPTH_REACHED
$STATE,2343,begin surface coast
$FINISH,0.5,1.006522
$STATE,2380,end surface coast,CONTROL_FINISHED_OK
$STATE,2381,begin surface
$SM_CCo,2402,15.98,0.055,0,0,1234,200.16
$SM_GC,2.00,11.50,0.00,15.98,0.037,0.000,0.055,649,1783,1234,-10.75,-0.51,200.16,0,0,0,0,0,0,24.65,28.83,24.60
$IRIDIUM_FIX,4719.74,-12254.47,191213,030354
$TT8_MAMPS,0.025466,0.025466
$HUMID,32.43
$INTERNAL_PRESSURE,8.98625
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.1,9.2
$24V_AH,23.9,0.814
$10V_AH,10.4,0.721
$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,26.000,66.075,245.400,15.975,0.000,25.935,43.237,279.934,0.500,0.000,32.687,947.594,450.148,350.060,1023.745,134.230,0.000,751.064,0.000,642.159,0.000,5.741,0.000
$DEVICE_MAMPS,164.475,136.170,436.050,55.080,0.000,57.370,160.000,223.000,420.000,0.000,29.210,11.220,2.190,11.220,36.680,42.670,0.000,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,313.457,226.753,382.614,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,5.990,68.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,20222,439
$CAP_FILE_SIZE,58544,0
$CFSIZE,260165632,258088960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191213,045851,4743.168,-12224.581,11,2.1,31,18.2