version: 66.11
glider: 130
mission: 19
dive: 13
start: 12 19 113 5 15 44
data:
$ID,130
$MISSION,19
$DIVE,13
$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,0
$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,-118566.14
$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,2993
$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,2
$ALTIM_SENSITIVITY,4
$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
$GPS1,191213,045851,4743.168,-12224.581,11,2.1,31,18.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-66.4
$GPS2,191213,051518,4743.186,-12224.697,9,1.9,9,18.2
$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,169.9,909,-17.8,-8.000,-21.61,1694
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.39,-90.1,648,1783,1287,1173,0.0,0.0,0,45,0.00,0.00,-27.12,0.000,16386,0.000,0.000,648,1783,2052,2090,2014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-1.45,-146.6,648,1783,2090,2014,2.2,-4.5,5,84,11.65,2.53,-15.18,0.000,18692,0.164,0.062,2667,3229,2650,2702,2599,0,0,0,0,0,0,24.36,24.52,24.82
$GC,313,-1.45,-146.6,2666,3229,2702,2599,36.4,-13.5,56,319,0.00,2.53,0.00,0.000,1030,0.000,0.050,2667,1783,2650,2701,2599,0,0,0,0,0,0,28.83,24.60,28.83
$GC,384,-1.45,-146.6,2666,1783,2702,2599,46.2,-14.4,69,390,0.00,2.50,0.00,0.000,260,0.000,0.047,2667,3233,2650,2702,2599,0,0,0,0,0,0,28.83,24.61,28.83
$GC,609,-1.45,-146.6,2666,3233,2701,2600,76.4,-12.2,113,615,0.00,2.53,0.00,0.000,1030,0.000,0.048,2667,1783,2650,2701,2599,0,0,0,0,0,0,28.83,24.64,28.83
$GC,738,-1.45,-146.6,1640,1782,2640,2589,92.7,-12.5,138,744,0.00,2.47,0.00,0.000,260,0.000,0.047,2667,3226,2650,2702,2599,0,0,0,0,0,0,28.83,24.65,28.83
$GC,827,-1.45,-146.6,2667,3227,2701,2599,104.4,-12.4,155,837,0.00,2.50,0.00,0.000,1030,0.000,0.048,2666,1789,2650,2702,2599,0,0,0,0,0,0,28.83,24.65,28.83
$GC,963,-1.45,-146.6,2666,1789,2702,2599,121.9,-13.0,180,969,0.00,2.55,0.00,0.000,516,0.000,0.070,2667,379,2650,2702,2599,0,0,0,0,0,0,28.83,24.61,28.83
$GC,1007,-1.45,-146.6,2666,379,2702,2600,128.8,-15.0,188,1014,0.00,2.45,0.00,0.000,1030,0.000,0.039,2666,1832,2650,2702,2599,0,0,0,0,0,0,28.83,24.71,28.83
$GC,1138,-1.45,-146.6,2667,1831,2702,2599,146.9,-13.7,213,1145,0.00,2.62,0.00,0.000,516,0.000,0.069,2667,382,2650,2702,2599,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1203,-1.45,-146.6,2666,382,2702,2599,156.2,-14.5,225,1209,0.00,2.45,0.00,0.000,1030,0.000,0.040,2667,1833,2650,2702,2599,0,0,0,0,0,0,28.83,24.72,28.83
$GC,1334,-1.45,-146.6,2666,1833,2702,2599,173.1,-12.7,250,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1833,2650,2702,2599,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1390,begin apogee
$GC,1396,-0.36,0.0,2666,1737,2702,2599,180.7,-12.7,261,1516,1.23,0.00,110.72,0.487,10246,0.108,0.000,2910,1737,2052,2131,1973,0,0,0,0,0,0,24.62,28.83,23.85
$STATE,1517,end apogee,CONTROL_FINISHED_OK
$STATE,1518,begin climb
$GC,1521,1.45,146.6,2909,1737,2131,1972,185.6,0.0,283,1640,1.88,0.00,112.20,0.478,10758,0.082,0.000,3305,1737,1451,1541,1362,0,0,0,0,0,0,24.29,28.83,23.82
$GC,1764,1.45,146.6,3305,1737,1541,1358,164.6,11.3,329,1770,0.00,2.50,0.00,0.000,260,0.000,0.047,3305,3176,1449,1541,1358,0,0,0,0,0,0,28.83,24.46,28.83
$GC,1793,1.45,146.6,3304,3177,1541,1357,161.3,11.0,334,1800,0.00,2.53,0.00,0.000,1030,0.000,0.050,3304,1741,1449,1541,1357,0,0,0,0,0,0,28.83,24.49,28.83
$GC,1924,1.45,146.6,3304,1742,1541,1357,145.7,13.4,359,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1742,1449,1541,1357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2053,1.45,146.6,3304,1742,1541,1356,131.2,10.8,384,2059,0.00,2.58,0.00,0.000,516,0.000,0.072,3305,332,1448,1541,1356,0,0,0,0,0,0,28.83,24.49,28.83
$GC,2117,1.45,146.6,2304,332,1504,1352,123.5,11.8,396,2123,0.00,2.47,0.00,0.000,1030,0.000,0.039,3305,1785,1448,1541,1356,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2248,1.45,146.6,3305,1788,1541,1355,108.2,12.4,421,2254,0.00,2.67,0.00,0.000,516,0.000,0.073,3305,330,1448,1541,1355,0,0,0,0,0,0,28.83,24.51,28.83
$GC,2292,1.45,146.6,2304,330,1504,1351,102.2,13.9,429,2298,0.00,2.47,0.00,0.000,1030,0.000,0.039,3304,1782,1447,1540,1355,0,0,0,0,0,0,28.83,24.60,28.83
$GC,2423,1.45,146.6,3304,1786,1541,1355,87.2,11.8,454,2429,0.00,2.40,0.00,0.000,260,0.000,0.050,3305,3176,1447,1540,1355,0,0,0,0,0,0,28.83,24.59,28.83
$GC,2452,1.45,146.6,3304,3176,1540,1354,83.8,10.9,459,2459,0.00,2.53,0.00,0.000,1030,0.000,0.051,3305,1737,1447,1540,1354,0,0,0,0,0,0,28.83,24.59,28.83
$GC,2584,1.45,146.6,3304,1738,1540,1354,69.9,10.4,484,2590,0.00,2.55,0.00,0.000,516,0.000,0.072,3305,337,1447,1540,1354,0,0,0,0,0,0,28.83,24.55,28.83
$GC,2688,1.45,146.6,3304,337,1540,1354,57.6,11.9,504,2695,0.00,2.45,0.00,0.000,1030,0.000,0.039,3305,1782,1447,1540,1354,0,0,0,0,0,0,28.83,24.65,28.83
$GC,2819,1.45,146.6,3305,1783,1540,1354,43.2,10.7,529,2826,0.00,2.65,0.00,0.000,516,0.000,0.071,3304,330,1447,1540,1354,0,0,0,0,0,0,28.83,24.57,28.83
$GC,2844,1.45,146.6,3304,330,1540,1354,40.0,12.2,533,2850,0.00,2.45,0.00,0.000,1030,0.000,0.039,3304,1780,1446,1539,1354,0,0,0,0,0,0,28.83,24.67,28.83
$GC,2915,1.45,146.6,3304,1780,1540,1354,33.3,9.8,546,2921,0.00,2.65,0.00,0.000,516,0.000,0.072,3305,330,1447,1540,1354,0,0,0,0,0,0,28.83,24.57,28.83
$GC,2928,1.45,146.6,3304,330,1540,1354,31.8,9.0,548,2935,0.00,2.47,0.00,0.000,1030,0.000,0.038,3305,1788,1447,1540,1354,0,0,0,0,0,0,28.83,24.67,28.83
$GC,2998,1.45,146.6,3304,1789,1540,1354,24.7,10.4,561,3005,0.00,2.65,0.00,0.000,516,0.000,0.073,3305,337,1447,1540,1354,0,0,0,0,0,0,28.83,24.58,28.83
$GC,3168,1.45,146.6,3305,338,1541,1354,4.4,12.3,594,3175,0.00,2.45,0.00,0.000,1030,0.000,0.040,3305,1780,1447,1541,1354,0,0,0,0,0,0,28.83,24.68,28.83
$STATE,3180,end climb,SURFACE_DEPTH_REACHED
$STATE,3180,begin surface coast
$FINISH,0.6,1.023078
$STATE,3203,end surface coast,CONTROL_FINISHED_OK
$STATE,3203,begin surface
$SM_CCo,3225,31.52,0.183,1,0,1233,200.16
$SM_GC,1.68,11.80,0.05,31.52,0.039,0.152,0.183,646,1823,1233,-10.75,-0.48,200.16,0,0,0,0,1,0,24.68,24.78,24.15
$IRIDIUM_FIX,4732.49,-12349.41,191213,050518
$TT8_MAMPS,0.024717,0.024717
$HUMID,32.24
$INTERNAL_PRESSURE,8.97648
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.4,18.4
$24V_AH,23.8,0.885
$10V_AH,10.3,0.766
$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,26.550,65.825,222.925,31.525,0.000,78.227,170.202,463.035,0.750,0.000,11.750,1317.014,780.474,362.052,1628.229,168.093,0.000,864.842,0.000,869.912,0.000,7.022,0.000
$DEVICE_MAMPS,164.475,152.235,486.540,182.835,0.000,57.370,160.000,223.000,420.000,0.000,29.210,11.220,2.190,11.220,36.680,42.670,0.000,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,428.368,274.182,458.881,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,5.990,68.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353964
$DATA_FILE_SIZE,26866,600
$CAP_FILE_SIZE,71971,0
$CFSIZE,260165632,258035712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,191213,061105,4743.114,-12224.586,10,1.6,26,18.2