version: 66.11
glider: 130
mission: 19
dive: 16
start: 12 19 113 8 48 34
data:
$ID,130
$MISSION,19
$DIVE,16
$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,-118570.02
$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,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,5
$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
$GPS1,191213,083936,4742.787,-12224.783,31,1.7,31,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-64.4
$GPS2,191213,084806,4742.733,-12224.824,13,1.8,13,18.2
$SPEED_LIMITS,0.114,0.200
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-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,342.6,2162,-18.1,-8.000,-21.82,1655
$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,-1.40,-88.0,648,1781,1204,1084,0.0,0.0,0,46,0.00,0.00,-27.70,0.000,16386,0.000,0.000,648,1782,2008,2049,1968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49,-1.40,-88.0,648,1781,2048,1969,2.5,-5.5,5,79,11.75,2.55,-11.12,0.000,18948,0.165,0.077,2677,382,2407,2463,2352,0,0,0,0,0,0,24.36,24.46,24.81
$GC,122,-1.40,-88.0,2677,382,2463,2352,7.5,-9.4,18,129,0.00,2.47,0.00,0.000,1030,0.000,0.040,2677,1839,2407,2463,2352,0,0,0,0,0,0,28.83,24.58,28.83
$GC,192,-1.40,-88.0,2677,1840,2463,2352,14.6,-9.3,31,198,0.00,2.40,0.00,0.000,260,0.000,0.050,2677,3229,2407,2463,2352,0,0,0,0,0,0,28.83,24.56,28.83
$GC,296,-1.40,-88.0,2677,3229,2463,2352,24.9,-9.2,51,302,0.00,2.53,0.00,0.000,1030,0.000,0.048,2676,1783,2407,2463,2352,0,0,0,0,0,0,28.83,24.59,28.83
$GC,365,-1.40,-88.0,2677,1783,2463,2352,31.8,-9.8,64,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1783,2408,2464,2352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,433,-1.40,-88.0,2677,1783,2463,2352,38.6,-10.2,77,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1783,2407,2463,2352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,503,-1.40,-88.0,2677,1783,2463,2352,45.9,-10.6,90,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1783,2407,2463,2352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,572,-1.40,-88.0,2677,1783,2463,2352,53.1,-10.2,103,578,0.00,2.53,0.00,0.000,516,0.000,0.068,2677,381,2407,2463,2352,0,0,0,0,0,0,28.83,24.58,28.83
$GC,666,-1.40,-88.0,2677,381,2464,2352,64.1,-11.2,121,672,0.00,2.45,0.00,0.000,1030,0.000,0.039,2677,1833,2407,2463,2352,0,0,0,0,0,0,28.83,24.68,28.83
$GC,795,-1.40,-88.0,2677,1833,2464,2352,77.1,-9.8,146,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1833,2407,2463,2352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,924,-1.40,-88.0,2677,1833,2463,2352,90.2,-10.7,171,930,0.00,2.40,0.00,0.000,260,0.000,0.048,2677,3233,2407,2463,2352,0,0,0,0,0,0,28.83,24.66,28.83
$GC,978,-1.40,-88.0,2677,3233,2464,2352,96.1,-11.1,181,984,0.00,2.50,0.00,0.000,1030,0.000,0.047,2677,1789,2408,2464,2352,0,0,0,0,0,0,28.83,24.66,28.83
$GC,1111,-1.40,-88.0,1600,1788,2389,2340,110.2,-11.4,206,1117,0.00,2.53,0.00,0.000,516,0.000,0.069,2677,383,2408,2464,2352,0,0,0,0,0,0,28.83,24.62,28.83
$GC,1267,-1.40,-88.0,2677,384,2464,2352,131.1,-12.9,236,1274,0.00,2.42,0.00,0.000,1030,0.000,0.039,2673,1829,2408,2464,2352,0,0,0,0,0,0,28.83,24.72,28.83
$GC,1399,-1.40,-88.0,2677,1830,2463,2352,145.2,-10.1,261,1406,0.00,2.40,0.00,0.000,260,0.000,0.048,2677,3226,2407,2463,2352,0,0,0,0,0,0,28.83,24.69,28.83
$GC,1507,-1.40,-88.0,2677,3226,2463,2352,155.8,-9.4,281,1513,0.00,2.50,0.00,0.000,1030,0.000,0.048,2677,1786,2407,2463,2352,0,0,0,0,0,0,28.83,24.70,28.83
$GC,1638,-1.40,-88.0,2677,1785,2463,2352,169.4,-10.7,306,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1786,2408,2464,2352,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1747,begin apogee
$GC,1754,-0.36,0.0,2677,1737,2463,2352,180.4,-9.6,327,1825,1.20,0.00,67.05,0.486,10246,0.115,0.000,2910,1737,2049,2127,1972,0,0,0,0,0,0,24.65,28.83,23.85
$STATE,1826,end apogee,CONTROL_FINISHED_OK
$STATE,1826,begin climb
$GC,1829,1.40,88.0,2910,1737,2127,1971,183.5,0.0,340,1905,1.80,0.00,67.90,0.477,10502,0.077,0.000,3295,1737,1689,1772,1607,0,0,0,0,0,0,24.29,28.83,23.83
$GC,2029,1.40,88.0,3294,1737,1772,1603,168.8,9.3,378,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1737,1687,1772,1603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2158,1.41,98.1,3295,1737,1772,1602,157.9,7.4,403,2170,0.00,0.00,8.80,0.399,8198,0.000,0.000,3295,1737,1650,1736,1564,0,0,0,0,0,0,28.83,28.83,24.06
$GC,2296,1.41,99.4,3295,1737,1735,1563,147.1,7.9,429,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1737,1649,1735,1563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2424,1.41,99.4,3295,1737,1735,1562,136.4,8.1,454,2431,0.00,2.50,0.00,0.000,260,0.000,0.047,3295,3179,1648,1735,1562,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2484,1.41,99.4,3295,3179,1735,1561,131.5,8.3,465,2490,0.00,2.53,0.00,0.000,1030,0.000,0.050,3295,1741,1648,1735,1561,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2615,1.42,108.2,3295,1741,1735,1561,121.4,7.5,490,2633,0.00,2.62,9.23,0.389,8708,0.000,0.070,3295,341,1607,1696,1519,0,0,0,0,0,0,28.83,24.43,24.12
$GC,2752,1.42,108.2,3294,341,1697,1519,107.1,10.4,516,2758,0.00,2.45,0.00,0.000,1030,0.000,0.039,3295,1779,1608,1697,1520,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2883,1.42,108.2,3294,1779,1697,1519,95.6,8.5,541,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1779,1608,1697,1519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3012,1.42,108.2,3295,1779,1697,1519,83.9,9.1,566,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1779,1608,1697,1519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3140,1.42,108.2,3294,1779,1697,1519,71.6,9.8,591,3147,0.00,2.62,0.00,0.000,516,0.000,0.070,3295,333,1608,1697,1519,0,0,0,0,0,0,28.83,24.58,28.83
$GC,3179,1.42,108.2,3295,333,1697,1519,67.1,11.8,598,3186,0.00,2.45,0.00,0.000,1030,0.000,0.038,3294,1783,1608,1697,1519,0,0,0,0,0,0,28.83,24.68,28.83
$GC,3311,1.42,108.2,3295,1783,1697,1519,53.8,9.8,623,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1783,1608,1698,1519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3439,1.42,108.2,3294,1783,1697,1519,41.0,10.2,648,3446,0.00,2.65,0.00,0.000,516,0.000,0.070,3295,330,1608,1697,1519,0,0,0,0,0,0,28.83,24.60,28.83
$GC,3509,1.42,108.2,3295,330,1697,1519,33.3,11.0,661,3515,0.00,2.45,0.00,0.000,1030,0.000,0.038,3295,1783,1608,1697,1519,0,0,0,0,0,0,28.83,24.70,28.83
$GC,3578,1.42,108.2,3294,1783,1697,1519,26.5,9.0,674,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1783,1607,1697,1518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3647,1.42,108.2,3295,1783,1697,1518,20.7,8.6,687,3654,0.00,2.62,0.00,0.000,516,0.000,0.070,3295,337,1607,1697,1518,0,0,0,0,0,0,28.83,24.62,28.83
$GC,3696,1.42,108.2,3295,337,1697,1519,16.1,10.1,696,3703,0.00,2.42,0.00,0.000,1030,0.000,0.039,3295,1778,1607,1697,1518,0,0,0,0,0,0,28.83,24.72,28.83
$GC,3767,1.42,108.2,3295,1779,1697,1518,9.7,9.2,709,3774,0.00,2.40,0.00,0.000,260,0.000,0.049,3295,3177,1607,1697,1517,0,0,0,0,0,0,28.83,24.68,28.83
$GC,3821,1.42,108.2,2304,3175,1652,1512,4.9,8.3,719,3827,0.00,2.50,0.00,0.000,1030,0.000,0.051,3295,1743,1607,1697,1517,0,0,0,0,0,0,28.83,24.69,28.83
$STATE,3853,end climb,SURFACE_DEPTH_REACHED
$STATE,3853,begin surface coast
$FINISH,0.5,1.012477
$STATE,3899,end surface coast,CONTROL_FINISHED_OK
$STATE,3899,begin surface
$SM_CCo,3921,64.43,0.054,0,0,1154,220.03
$SM_GC,1.24,11.62,0.12,64.43,0.034,0.082,0.054,647,1818,1154,-10.73,-0.48,220.03,0,0,0,0,0,0,24.72,24.76,24.60
$IRIDIUM_FIX,4732.49,-12234.67,191213,070751
$TT8_MAMPS,0.023968,0.023968
$HUMID,33.06
$INTERNAL_PRESSURE,8.96672
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,23.8,1.056
$10V_AH,10.4,0.906
$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,26.375,60.175,152.975,64.425,0.000,24.481,51.115,312.021,4.500,0.000,16.191,1658.024,835.865,360.040,1476.005,172.737,0.000,946.689,0.000,1056.744,0.000,30.501,0.000
$DEVICE_MAMPS,165.240,136.935,485.775,53.550,0.000,57.370,160.000,223.000,420.000,0.000,29.210,11.220,2.190,11.220,36.680,42.670,0.000,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,522.236,344.032,565.321,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,5.990,68.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353944
$DATA_FILE_SIZE,33441,734
$CAP_FILE_SIZE,82888,0
$CFSIZE,260165632,257892352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191213,095543,4742.903,-12225.005,10,1.5,10,18.2