version: 66.11
glider: 130
mission: 24
dive: 4
start: 2 19 115 21 32 52
data:
$ID,130
$MISSION,24
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,3
$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,85
$T_ABORT,1440
$T_TURN,500
$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,51861
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0021100601
$HD_B,0.0121726
$HD_C,2.7118101e-06
$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,300
$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,10
$CALL_WAIT,45
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-172159.23
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,600
$PITCH_MAX,3702
$C_PITCH,2617
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,240
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,1890
$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,2300
$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,2
$AH0_24V,92
$AH0_10V,97
$MINV_24V,18
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-10.099391
$PRESSURE_SLOPE,0.0001159091
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,6
$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
$DEVICE2,101
$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,0.0044035749
$SEABIRD_T_H,0.00064291171
$SEABIRD_T_I,2.7386095e-05
$SEABIRD_T_J,3.1457723e-06
$SEABIRD_C_G,-9.7818193
$SEABIRD_C_H,1.0996603
$SEABIRD_C_I,-0.00026411601
$SEABIRD_C_J,0.00011607879
$GPS1,190215,212207,4743.293,-12224.511,9,1.5,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-66.9
$GPS2,190215,213154,4743.208,-12224.596,14,1.6,14,18.2
$SPEED_LIMITS,0.114,0.222
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.034,0.220
$KALMAN_X,-58.4,44.1,125.2,-565.4,-115.0
$KALMAN_Y,-653.0,-446.4,-197.2,1641.3,-231.3
$MHEAD_RNG_PITCHd_Wd,350.6,2395,-12.7,-8.000,-19.81,2788
$D_GRID,177
$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,14,begin dive
$GC,16,-0.93,-146.6,596,2170,1125,1016,0.0,0.0,0,62,0.00,0.00,-43.58,0.000,16386,0.000,0.000,597,2170,2355,2387,2323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.93,-146.6,596,2170,2387,2323,2.3,-6.1,8,96,10.32,2.65,-13.73,0.000,18692,0.158,0.069,2408,3612,2899,2945,2854,0,0,0,0,0,0,24.26,24.32,24.72
$GC,134,-0.93,-146.6,1448,3611,2895,2846,8.6,-10.6,20,140,0.00,2.45,0.00,0.000,1030,0.000,0.038,2408,2186,2900,2946,2855,0,0,0,0,0,0,28.83,24.44,28.83
$GC,263,-0.93,-146.6,1440,2184,2895,2846,20.2,-9.0,45,269,0.00,2.55,0.00,0.000,260,0.000,0.057,2408,3613,2900,2946,2855,0,0,0,0,0,0,28.83,24.38,28.83
$GC,302,-0.93,-146.6,2408,3614,2946,2855,24.0,-9.4,52,309,0.00,2.45,0.00,0.000,1030,0.000,0.038,2408,2187,2900,2946,2855,0,0,0,0,0,0,28.83,24.48,28.83
$GC,432,-0.93,-146.6,2408,2187,2946,2855,35.6,-8.6,77,439,0.00,2.47,0.00,0.000,516,0.000,0.054,2408,780,2900,2946,2855,0,0,0,0,0,0,28.83,24.45,28.83
$GC,593,-0.93,-146.6,2408,780,2946,2855,49.4,-9.0,108,600,0.00,2.45,0.00,0.000,1030,0.000,0.037,2408,2210,2901,2946,2856,0,0,0,0,0,0,28.83,24.51,28.83
$GC,725,-0.93,-146.6,2408,2210,2946,2855,59.0,-7.5,133,731,0.00,2.47,0.00,0.000,260,0.000,0.057,2408,3618,2900,2946,2855,0,0,0,0,0,0,28.83,24.43,28.83
$GC,834,-0.93,-146.6,1440,3616,2894,2846,67.8,-7.9,154,841,0.00,2.45,0.00,0.000,1030,0.000,0.037,2408,2186,2900,2946,2855,0,0,0,0,0,0,28.83,24.54,28.83
$GC,1026,-0.93,-146.6,2408,2186,2946,2855,82.5,-8.2,191,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2186,2900,2946,2855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1215,-0.93,-146.6,2408,2186,2946,2855,97.0,-7.7,228,1222,0.00,2.47,0.00,0.000,516,0.000,0.054,2408,771,2900,2946,2855,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1250,-0.93,-146.6,2407,770,2946,2855,100.2,-8.6,234,1257,0.00,2.47,0.00,0.000,1030,0.000,0.037,2408,2218,2900,2946,2855,0,0,0,0,0,0,28.83,24.57,28.83
$GC,1441,-0.93,-146.6,2408,2219,2946,2855,115.4,-7.2,271,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2219,2900,2946,2855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1633,-0.93,-146.6,2408,2219,2946,2855,131.8,-8.3,308,1640,0.00,2.53,0.00,0.000,516,0.000,0.054,2408,781,2900,2945,2856,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1703,-0.93,-146.6,2408,781,2946,2855,138.3,-9.6,321,1709,0.00,2.42,0.00,0.000,1030,0.000,0.038,2408,2210,2900,2946,2855,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1893,-0.93,-146.6,2408,2210,2946,2855,149.2,-6.5,358,1900,0.00,2.47,0.00,0.000,260,0.000,0.060,2408,3612,2900,2946,2855,0,0,0,0,0,0,28.83,24.51,28.83
$GC,2008,-0.93,-146.6,2408,3611,2947,2855,157.5,-7.5,380,2015,0.00,2.45,0.00,0.000,1030,0.000,0.039,2408,2181,2900,2946,2855,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2199,-0.93,-146.6,2408,2181,2946,2855,170.0,-5.9,417,2206,0.00,2.42,0.00,0.000,516,0.000,0.054,2408,780,2900,2946,2855,0,0,0,0,0,0,28.83,24.60,28.83
$GC,2264,-0.93,-146.6,2408,781,2946,2855,174.2,-7.0,429,2271,0.00,2.42,0.00,0.000,1030,0.000,0.037,2408,2211,2900,2946,2855,0,0,0,0,0,0,28.83,24.64,28.83
$STATE,2301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2301,begin apogee
$GC,2307,-0.29,0.0,2408,1863,2946,2855,177.1,-6.4,436,2423,0.68,0.08,109.25,0.618,10246,0.098,0.110,2545,1918,2299,2364,2235,0,0,0,0,0,0,24.54,24.06,23.68
$STATE,2426,end apogee,CONTROL_FINISHED_OK
$STATE,2426,begin climb
$GC,2428,0.93,146.6,2545,1918,2364,2235,179.1,0.0,457,2550,1.33,2.67,110.82,0.588,11012,0.092,0.060,2813,467,1701,1781,1622,0,0,0,0,0,0,24.18,24.06,23.64
$GC,2574,0.93,146.6,2813,467,1780,1622,167.7,10.7,483,2581,0.00,2.47,0.00,0.000,1030,0.000,0.035,2813,1915,1700,1779,1622,0,0,0,0,0,0,28.83,24.29,28.83
$GC,2765,0.93,146.6,2812,1915,1778,1616,150.2,9.3,520,2771,0.00,2.45,0.00,0.000,260,0.000,0.050,2813,3319,1696,1778,1615,0,0,0,0,0,0,28.83,24.35,28.83
$GC,2786,0.93,146.6,2813,3318,1778,1614,148.3,9.3,523,2792,0.00,2.50,0.00,0.000,1030,0.000,0.044,2813,1879,1696,1778,1614,0,0,0,0,0,0,28.83,24.37,28.83
$GC,2975,0.93,146.6,1760,1877,1727,1607,131.2,9.2,560,2982,0.00,2.55,0.00,0.000,516,0.000,0.061,2813,466,1695,1777,1613,0,0,0,0,0,0,28.83,24.36,28.83
$GC,3000,0.93,146.6,2813,466,1777,1613,128.7,10.5,564,3006,0.00,2.47,0.00,0.000,1030,0.000,0.035,2813,1916,1695,1777,1613,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3190,0.93,151.2,2813,1920,1778,1613,111.6,7.8,601,3197,0.00,0.00,4.22,0.369,8710,0.000,0.000,2813,1920,1682,1766,1599,0,0,0,0,0,0,28.83,28.83,23.96
$GC,3381,0.93,151.2,2813,1920,1766,1600,97.8,8.1,638,3387,0.00,2.60,0.00,0.000,516,0.000,0.060,2813,473,1682,1766,1599,0,0,0,0,0,0,28.83,24.41,28.83
$GC,3405,0.93,151.2,1760,472,1716,1593,95.8,8.6,642,3411,0.00,2.45,0.00,0.000,1030,0.000,0.035,2813,1910,1682,1766,1599,0,0,0,0,0,0,28.83,24.48,28.83
$GC,3595,0.93,151.2,2813,1910,1766,1599,79.3,9.2,679,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1910,1682,1766,1599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3785,0.93,151.2,2813,1910,1766,1598,62.2,8.7,716,3791,0.00,2.58,0.00,0.000,516,0.000,0.060,2813,473,1682,1766,1599,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3869,0.93,151.2,1760,473,1716,1592,54.6,9.0,732,3875,0.00,2.45,0.00,0.000,1030,0.000,0.035,2813,1913,1682,1766,1598,0,0,0,0,0,0,28.83,24.53,28.83
$GC,4059,0.93,151.2,1760,1912,1716,1592,39.7,8.5,769,4065,0.00,2.42,0.00,0.000,260,0.000,0.050,2813,3315,1682,1766,1598,0,0,0,0,0,0,28.83,24.51,28.83
$GC,4103,0.93,151.2,1760,3313,1716,1591,35.6,9.3,777,4109,0.00,2.50,0.00,0.000,1030,0.000,0.043,2813,1869,1682,1766,1598,0,0,0,0,0,0,28.83,24.53,28.83
$GC,4232,0.93,151.2,2813,1870,1767,1597,23.9,8.5,802,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1870,1681,1766,1597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4363,0.94,153.6,2813,1870,1766,1597,14.2,7.9,827,4375,0.00,2.55,3.47,0.299,8708,0.000,0.060,2813,472,1673,1758,1588,0,0,0,0,0,0,28.83,24.48,24.10
$GC,4413,0.94,153.6,2813,472,1758,1588,9.3,10.0,836,4420,0.00,2.45,0.00,0.000,1030,0.000,0.034,2813,1919,1672,1757,1588,0,0,0,0,0,0,28.83,24.56,28.83
$STATE,4511,end climb,SURFACE_DEPTH_REACHED
$STATE,4512,begin surface coast
$FINISH,-0.1,1.004997
$STATE,4584,end surface coast,CONTROL_FINISHED_OK
$STATE,4584,begin surface
$SM_CCo,4604,76.93,0.053,0,0,1077,300.00
$SM_GC,0.96,9.98,0.50,76.93,0.045,0.046,0.053,598,2224,1077,-9.24,-0.40,300.00,0,0,0,0,0,0,24.56,24.60,24.47
$IRIDIUM_FIX,4726.11,-12219.67,190215,202050
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.21
$INTERNAL_PRESSURE,9.15227
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.2,71.5
$24V_AH,23.6,0.480
$10V_AH,10.4,0.325
$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,22.300,76.000,227.775,76.925,0.000,32.956,47.698,369.036,1.500,0.000,17.859,1943.784,942.117,434.111,1750.443,193.143,32.225,1112.378,0.000,1278.620,0.000,11.891,0.000
$DEVICE_MAMPS,157.590,123.930,618.120,52.785,0.000,54.320,160.000,223.000,420.000,0.000,30.710,12.060,2.190,12.060,38.280,45.020,64.490,14.900,0.000,14.980,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,614.324,732.042,736.816,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,11.240,68.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323316
$DATA_FILE_SIZE,60542,869
$CAP_FILE_SIZE,90916,0
$CFSIZE,260165632,259186688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190215,225206,4743.281,-12224.668,39,1.2,40,18.2