version: 66.11
glider: 130
mission: 19
dive: 14
start: 12 19 113 6 33 11
data:
$ID,130
$MISSION,19
$DIVE,14
$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,-118567.41
$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
$GPS1,191213,061105,4743.114,-12224.586,10,1.6,26,18.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-63.7
$GPS2,191213,063243,4743.107,-12224.645,13,1.4,13,18.2
$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,176.2,778,-21.4,-8.000,-24.82,1212
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.61,-64.1,645,1783,1285,1170,0.0,0.0,0,46,0.00,0.00,-27.67,0.000,16386,0.000,0.000,645,1783,2071,2112,2031,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49,-1.65,-101.5,645,1783,2112,2032,2.4,-4.8,5,79,11.40,2.53,-10.12,0.000,18692,0.163,0.062,2624,3226,2465,2518,2412,0,0,0,0,0,0,24.36,24.50,24.81
$GC,308,-1.65,-101.5,2623,3226,2517,2413,37.4,-12.7,55,315,0.00,2.50,0.00,0.000,1030,0.000,0.048,2624,1790,2465,2518,2413,0,0,0,0,0,0,28.83,24.60,28.83
$GC,379,-1.65,-101.5,2623,1790,2518,2413,46.8,-13.4,68,385,0.00,2.47,0.00,0.000,260,0.000,0.047,2624,3226,2465,2518,2413,0,0,0,0,0,0,28.83,24.60,28.83
$GC,554,-1.65,-101.5,2624,3226,2518,2413,70.8,-13.8,102,561,0.00,2.50,0.00,0.000,1030,0.000,0.048,2624,1790,2465,2518,2412,0,0,0,0,0,0,28.83,24.63,28.83
$GC,683,-1.65,-101.5,2623,1789,2518,2413,89.2,-15.5,127,690,0.00,2.53,0.00,0.000,516,0.000,0.069,2624,385,2465,2518,2412,0,0,0,0,0,0,28.83,24.58,28.83
$GC,733,-1.65,-101.5,2624,385,2518,2413,97.0,-15.6,136,740,0.00,2.45,0.00,0.000,1030,0.000,0.040,2624,1836,2465,2518,2413,0,0,0,0,0,0,28.83,24.68,28.83
$GC,867,-1.65,-101.5,2623,1836,2518,2412,115.2,-14.1,161,874,0.00,2.38,0.00,0.000,260,0.000,0.048,2624,3225,2465,2518,2413,0,0,0,0,0,0,28.83,24.65,28.83
$GC,907,-1.65,-101.5,2623,3225,2517,2413,120.7,-14.6,168,913,0.00,2.50,0.00,0.000,1030,0.000,0.048,2624,1788,2465,2518,2412,0,0,0,0,0,0,28.83,24.65,28.83
$GC,1036,-1.65,-101.5,2623,1788,2518,2413,139.6,-13.2,193,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1788,2465,2518,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1164,-1.65,-101.5,1608,1786,2450,2402,155.6,-11.6,218,1170,0.00,2.53,0.00,0.000,516,0.000,0.067,2623,379,2465,2518,2413,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1213,-1.65,-101.5,2623,379,2518,2413,162.9,-15.2,227,1220,0.00,2.45,0.00,0.000,1030,0.000,0.039,2623,1834,2465,2518,2413,0,0,0,0,0,0,28.83,24.72,28.83
$GC,1345,-1.65,-101.5,2623,1834,2518,2413,179.4,-13.2,252,1351,0.00,2.40,0.00,0.000,260,0.000,0.054,2624,3222,2465,2518,2413,0,0,0,0,0,0,28.83,24.68,28.83
$STATE,1357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1357,begin apogee
$GC,1366,-0.36,0.0,2623,1741,2518,2413,181.3,-12.8,254,1448,1.45,0.00,77.60,0.487,10246,0.113,0.000,2907,1741,2050,2128,1972,0,0,0,0,0,0,24.60,28.83,23.84
$STATE,1449,end apogee,CONTROL_FINISHED_OK
$STATE,1449,begin climb
$GC,1452,1.65,101.5,2907,1741,2127,1972,185.1,0.0,269,1540,2.08,2.60,77.75,0.480,10756,0.076,0.069,3349,337,1635,1718,1552,0,0,0,0,0,0,24.28,24.15,23.82
$GC,1614,1.65,101.5,3348,337,1718,1551,170.7,15.3,299,1621,0.00,2.47,0.00,0.000,1030,0.000,0.039,3349,1780,1634,1718,1550,0,0,0,0,0,0,28.83,24.49,28.83
$GC,1746,1.65,101.5,3348,1784,1718,1547,155.7,9.8,324,1752,0.00,2.40,0.00,0.000,260,0.000,0.047,3349,3178,1632,1718,1547,0,0,0,0,0,0,28.83,24.52,28.83
$GC,1981,1.65,101.5,3348,3178,1717,1546,134.3,9.1,370,1988,0.00,2.53,0.00,0.000,1030,0.000,0.051,3349,1742,1631,1717,1546,0,0,0,0,0,0,28.83,24.57,28.83
$GC,2112,1.65,101.5,3348,1742,1717,1546,123.3,8.0,395,2119,0.00,2.55,0.00,0.000,516,0.000,0.070,3349,337,1631,1717,1546,0,0,0,0,0,0,28.83,24.53,28.83
$GC,2348,1.65,101.5,3348,337,1717,1546,96.8,11.1,441,2354,0.00,2.45,0.00,0.000,1030,0.000,0.039,3349,1781,1632,1718,1546,0,0,0,0,0,0,28.83,24.65,28.83
$GC,2479,1.65,101.5,3348,1781,1717,1545,82.9,10.4,466,2485,0.00,2.62,0.00,0.000,516,0.000,0.069,3349,337,1631,1718,1545,0,0,0,0,0,0,28.83,24.57,28.83
$GC,2498,1.65,101.5,3349,337,1717,1545,80.7,10.7,469,2505,0.00,2.45,0.00,0.000,1030,0.000,0.039,3349,1779,1631,1717,1545,0,0,0,0,0,0,28.83,24.66,28.83
$GC,2629,1.65,101.5,3349,1780,1718,1545,68.3,8.7,494,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,1780,1631,1717,1545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2758,1.65,101.5,3348,1780,1717,1545,55.9,10.0,519,2764,0.00,2.62,0.00,0.000,516,0.000,0.070,3348,337,1631,1718,1545,0,0,0,0,0,0,28.83,24.59,28.83
$GC,2862,1.65,101.5,2368,337,1671,1540,44.9,10.8,539,2869,0.00,2.45,0.00,0.000,1030,0.000,0.039,3349,1784,1631,1718,1545,0,0,0,0,0,0,28.83,24.69,28.83
$GC,2933,1.65,101.5,3349,1785,1717,1545,38.0,9.6,552,2940,0.00,2.40,0.00,0.000,260,0.000,0.049,3349,3180,1631,1717,1545,0,0,0,0,0,0,28.83,24.66,28.83
$GC,2982,1.65,101.5,3348,3180,1718,1545,32.6,10.8,561,2989,0.00,2.53,0.00,0.000,1030,0.000,0.050,3348,1734,1631,1718,1544,0,0,0,0,0,0,28.83,24.66,28.83
$GC,3052,1.65,101.5,3349,1734,1718,1545,24.2,12.4,574,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,1734,1631,1718,1544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3121,1.65,101.5,3348,1734,1717,1544,16.7,10.0,587,3127,0.00,2.53,0.00,0.000,516,0.000,0.071,3349,337,1630,1717,1544,0,0,0,0,0,0,28.83,24.61,28.83
$STATE,3238,end climb,SURFACE_DEPTH_REACHED
$STATE,3238,begin surface coast
$FINISH,0.5,1.021893
$STATE,3267,end surface coast,CONTROL_FINISHED_OK
$STATE,3267,begin surface
$SM_CCo,3291,60.67,0.278,1,0,1233,200.16
$SM_GC,1.80,11.93,2.60,60.67,0.040,0.039,0.278,646,1829,1233,-10.74,-0.20,200.16,3,0,0,0,1,0,24.70,24.72,24.00
$IRIDIUM_FIX,4729.30,-12228.52,191213,060658
$TT8_MAMPS,0.024717,0.024717
$HUMID,32.91
$INTERNAL_PRESSURE,8.96672
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.1,15.1
$24V_AH,23.8,0.962
$10V_AH,10.3,0.814
$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,26.850,65.125,155.350,60.675,0.000,114.862,175.755,657.300,1.000,0.000,15.276,1380.810,883.934,334.789,1895.468,166.258,0.000,828.114,0.000,888.252,0.000,9.770,0.000
$DEVICE_MAMPS,162.945,172.125,487.305,277.695,0.000,57.370,160.000,223.000,420.000,0.000,29.210,11.220,2.190,11.220,36.680,42.670,0.000,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,437.130,281.469,467.316,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,5.990,68.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353872
$DATA_FILE_SIZE,30078,615
$CAP_FILE_SIZE,74178,0
$CFSIZE,260165632,257986560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,1,0,0
$GPS,191213,073005,4743.046,-12224.652,8,1.2,24,18.2