version: 66.11
glider: 130
mission: 19
dive: 15
start: 12 19 113 7 43 37
data:
$ID,130
$MISSION,19
$DIVE,15
$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,500
$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,90
$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,220
$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,-118568.76
$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
$GPS1,191213,073005,4743.046,-12224.652,8,1.2,24,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-64.2
$GPS2,191213,074307,4743.030,-12224.712,12,1.2,12,18.2
$SPEED_LIMITS,0.114,0.200
$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,172.0,621,-27.2,-8.000,-30.10,770
$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,12,begin dive
$GC,15,-1.99,-40.5,646,1780,1284,1170,0.0,0.0,0,45,0.00,0.00,-27.30,0.000,16386,0.000,0.000,646,1780,2053,2091,2015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-2.03,-72.8,646,1780,2091,2014,2.2,-3.7,5,73,10.95,2.60,-7.80,0.000,18692,0.164,0.060,2543,3232,2348,2403,2293,0,0,0,0,0,0,24.32,24.51,24.80
$GC,578,-2.03,-72.8,2543,3233,2403,2293,77.9,-13.2,109,584,0.00,2.50,0.00,0.000,1030,0.000,0.047,2543,1789,2348,2404,2293,0,0,0,0,0,0,28.83,24.63,28.83
$GC,707,-2.03,-72.8,2543,1789,2403,2293,95.6,-12.5,134,714,0.00,2.47,0.00,0.000,260,0.000,0.047,2543,3226,2348,2403,2293,0,0,0,0,0,0,28.83,24.65,28.83
$GC,768,-2.03,-72.8,2543,3227,2402,2293,103.9,-14.1,145,774,0.00,2.50,0.00,0.000,1030,0.000,0.047,2543,1788,2348,2403,2293,0,0,0,0,0,0,28.83,24.65,28.83
$GC,900,-2.03,-72.8,1536,1787,2331,2282,124.7,-15.9,170,906,0.00,2.47,0.00,0.000,260,0.000,0.047,2543,3225,2348,2403,2293,0,0,0,0,0,0,28.83,24.65,28.83
$GC,915,-2.03,-72.8,2543,3225,2403,2293,127.1,-15.4,172,921,0.00,2.50,0.00,0.000,1030,0.000,0.047,2543,1784,2348,2403,2293,0,0,0,0,0,0,28.83,24.65,28.83
$GC,1044,-2.03,-72.8,2543,1784,2403,2293,146.6,-14.7,197,1051,0.00,2.50,0.00,0.000,516,0.000,0.067,2543,385,2348,2404,2293,0,0,0,0,0,0,28.83,24.62,28.83
$GC,1134,-2.03,-72.8,2543,384,2404,2293,161.3,-16.5,214,1140,0.00,2.45,0.00,0.000,1030,0.000,0.038,2543,1840,2348,2403,2293,0,0,0,0,0,0,28.83,24.72,28.83
$STATE,1263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1263,begin apogee
$GC,1269,-0.36,0.0,2543,1730,2403,2293,180.3,-15.3,239,1335,1.88,0.03,56.25,0.485,10246,0.125,0.110,2909,1758,2050,2127,1973,0,0,0,0,0,0,24.57,24.13,23.87
$STATE,1336,end apogee,CONTROL_FINISHED_OK
$STATE,1336,begin climb
$GC,1339,2.03,72.8,2909,1757,2127,1973,184.5,0.0,251,1405,2.47,0.00,56.25,0.477,10502,0.076,0.000,3431,1758,1753,1830,1676,0,0,0,0,0,0,24.34,28.83,23.83
$GC,1528,2.03,72.8,2480,1756,1778,1666,168.4,10.7,287,1534,0.00,2.45,0.00,0.000,260,0.000,0.047,3431,3176,1751,1830,1672,0,0,0,0,0,0,28.83,24.51,28.83
$GC,1542,2.03,72.8,3431,3175,1830,1672,167.0,10.2,289,1548,0.00,2.53,0.00,0.000,1030,0.000,0.048,3431,1735,1751,1830,1672,0,0,0,0,0,0,28.83,24.51,28.83
$GC,1673,2.03,72.8,3431,1735,1830,1672,152.8,10.6,314,1679,0.00,2.55,0.00,0.000,516,0.000,0.070,3431,330,1751,1830,1672,0,0,0,0,0,0,28.83,24.49,28.83
$GC,1928,2.03,72.8,3431,330,1830,1671,123.4,12.3,364,1935,0.00,2.45,0.00,0.000,1030,0.000,0.039,3431,1780,1750,1830,1671,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2059,2.03,72.8,3430,1780,1830,1671,109.0,11.6,389,2066,0.00,2.40,0.00,0.000,260,0.000,0.048,3431,3176,1750,1830,1670,0,0,0,0,0,0,28.83,24.61,28.83
$GC,2144,2.03,72.8,3430,3176,1829,1670,101.2,9.0,405,2150,0.00,2.50,0.00,0.000,1030,0.000,0.049,3431,1739,1750,1831,1670,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2275,2.03,72.8,3431,1739,1830,1670,89.8,9.7,430,2281,0.00,2.47,0.00,0.000,260,0.000,0.047,3431,3177,1750,1830,1670,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2299,2.03,72.8,2496,3175,1778,1663,87.4,9.1,434,2305,0.00,2.50,0.00,0.000,1030,0.000,0.049,3431,1740,1750,1830,1670,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2430,2.03,72.8,3431,1740,1830,1670,76.6,8.3,459,2436,0.00,2.53,0.00,0.000,516,0.000,0.068,3431,336,1750,1830,1670,0,0,0,0,0,0,28.83,24.59,28.83
$GC,2544,2.03,72.8,3431,336,1830,1670,64.4,11.8,481,2551,0.00,2.45,0.00,0.000,1030,0.000,0.038,3431,1789,1750,1830,1670,0,0,0,0,0,0,28.83,24.69,28.83
$GC,2675,2.03,72.8,3431,1789,1830,1670,51.0,9.7,506,2682,0.00,2.40,0.00,0.000,260,0.000,0.049,3431,3178,1750,1830,1670,0,0,0,0,0,0,28.83,24.66,28.83
$GC,2740,2.03,72.8,3431,3178,1830,1670,44.6,9.5,518,2746,0.00,2.53,0.00,0.000,1030,0.000,0.050,3431,1733,1749,1830,1669,0,0,0,0,0,0,28.83,24.68,28.83
$GC,2809,2.03,72.8,2496,1732,1778,1663,37.8,9.6,531,2815,0.00,2.50,0.00,0.000,260,0.000,0.047,3431,3184,1749,1830,1669,0,0,0,0,0,0,28.83,24.68,28.83
$GC,2838,2.03,72.8,3431,3184,1830,1670,34.8,10.3,536,2845,0.00,2.53,0.00,0.000,1030,0.000,0.050,3431,1734,1749,1830,1669,0,0,0,0,0,0,28.83,24.68,28.83
$GC,2908,2.03,72.8,3430,1734,1830,1669,28.0,9.5,549,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1734,1749,1830,1669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2976,2.03,72.8,3431,1734,1830,1669,21.1,9.8,562,2983,0.00,2.50,0.00,0.000,260,0.000,0.047,3431,3184,1749,1830,1669,0,0,0,0,0,0,28.83,24.68,28.83
$GC,2990,2.03,72.8,3431,3184,1830,1669,19.7,10.1,564,2996,0.00,2.53,0.00,0.000,1030,0.000,0.050,3431,1737,1749,1830,1669,0,0,0,0,0,0,28.83,24.68,28.83
$GC,3059,2.03,72.8,3431,1737,1830,1669,12.6,9.6,577,3066,0.00,2.55,0.00,0.000,516,0.000,0.070,3431,330,1749,1829,1669,0,0,0,0,0,0,28.83,24.62,28.83
$STATE,3151,end climb,SURFACE_DEPTH_REACHED
$STATE,3151,begin surface coast
$FINISH,0.4,1.023161
$STATE,3179,end surface coast,CONTROL_FINISHED_OK
$STATE,3179,begin surface
$SM_CCo,3204,86.85,0.272,1,0,1152,220.03
$SM_GC,1.38,12.30,2.60,86.85,0.037,0.039,0.272,649,1823,1152,-10.72,-0.37,220.03,0,0,0,0,1,0,24.72,24.72,23.97
$IRIDIUM_FIX,4729.30,-12208.13,191213,070753
$TT8_MAMPS,0.024717,0.024717
$HUMID,32.63
$INTERNAL_PRESSURE,8.96672
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,106.0,15.6
$24V_AH,23.8,1.011
$10V_AH,10.3,0.857
$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,27.600,65.250,112.500,86.850,0.000,53.944,93.131,328.254,1.000,0.000,14.674,1363.582,752.393,327.421,1486.323,157.876,0.000,803.873,0.000,867.443,0.000,9.857,0.000
$DEVICE_MAMPS,163.710,127.755,485.010,272.340,0.000,57.370,160.000,223.000,420.000,0.000,29.210,11.220,2.190,11.220,36.680,42.670,0.000,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,426.381,278.533,458.849,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,5.990,68.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353876
$DATA_FILE_SIZE,26876,600
$CAP_FILE_SIZE,70164,0
$CFSIZE,260165632,257953792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,191213,083936,4742.787,-12224.783,31,1.7,31,18.2