version: 66.11
glider: 130
mission: 24
dive: 9
start: 2 20 115 5 10 32
data:
$ID,130
$MISSION,24
$DIVE,9
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$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,-173070.11
$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,16.5
$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,15
$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
$GPS1,200215,045020,4744.312,-12224.362,15,5.3,35,18.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-65.7
$GPS2,200215,050932,4744.526,-12224.439,16,2.4,36,18.2
$SPEED_LIMITS,0.114,0.185
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.103,-0.153
$KALMAN_X,-253.8,-129.7,-197.9,313.7,481.9
$KALMAN_Y,-2496.9,-582.7,-490.8,6333.7,1338.7
$MHEAD_RNG_PITCHd_Wd,195.8,2828,-17.1,-8.000,-23.42,1863
$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,-1.15,-97.8,596,2174,1124,1012,0.0,0.0,0,57,0.00,0.00,-38.60,0.000,16386,0.000,0.000,596,2173,2191,2228,2154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-1.15,-97.8,596,2173,2227,2154,2.1,-5.5,7,91,9.95,2.53,-13.68,0.000,19204,0.153,0.065,2359,779,2699,2750,2649,0,0,0,0,0,0,24.25,24.38,24.70
$GC,290,-1.15,-97.8,2359,779,2752,2649,28.4,-12.3,51,297,0.00,2.47,0.00,0.000,1030,0.000,0.038,2359,2214,2700,2752,2649,0,0,0,0,0,0,28.83,24.47,28.83
$GC,422,-1.15,-97.8,2359,2215,2752,2649,42.1,-7.6,76,428,0.00,2.53,0.00,0.000,516,0.000,0.051,2359,779,2700,2752,2649,0,0,0,0,0,0,28.83,24.46,28.83
$GC,578,-1.15,-97.8,2359,779,2752,2649,55.8,-8.4,106,585,0.00,2.45,0.00,0.000,1030,0.000,0.036,2359,2212,2700,2752,2649,0,0,0,0,0,0,28.83,24.51,28.83
$GC,769,-1.15,-97.8,2359,2212,2752,2649,70.9,-7.3,143,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2211,2700,2752,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,959,-1.15,-97.8,2359,2212,2752,2649,83.5,-6.2,180,965,0.00,2.53,0.00,0.000,516,0.000,0.050,2359,773,2700,2752,2648,0,0,0,0,0,0,28.83,24.51,28.83
$GC,1144,-1.15,-97.8,2359,772,2752,2648,96.8,-7.1,216,1151,0.00,2.47,0.00,0.000,1030,0.000,0.037,2359,2220,2700,2752,2649,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1335,-1.15,-97.8,2359,2220,2752,2648,112.7,-9.9,253,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2221,2700,2752,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1528,-1.15,-97.8,1408,2219,2690,2638,128.9,-7.2,290,1535,0.00,2.55,0.00,0.000,516,0.000,0.053,2359,779,2700,2752,2649,0,0,0,0,0,0,28.83,24.55,28.83
$GC,1578,-1.15,-97.8,2359,778,2752,2648,132.7,-7.4,299,1585,0.00,2.45,0.00,0.000,1030,0.000,0.037,2359,2219,2700,2752,2648,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1768,-1.15,-97.8,2358,2219,2752,2648,147.5,-8.3,336,1775,0.00,2.47,0.00,0.000,260,0.000,0.061,2359,3611,2700,2751,2649,0,0,0,0,0,0,28.83,24.50,28.83
$GC,1964,-1.15,-97.8,2359,3611,2752,2648,163.6,-8.2,374,1971,0.00,2.45,0.00,0.000,1030,0.000,0.039,2359,2181,2699,2751,2648,0,0,0,0,0,0,28.83,24.62,28.83
$GC,2155,-1.15,-97.8,2359,2182,2752,2648,177.6,-7.1,411,2162,0.00,2.42,0.00,0.000,516,0.000,0.053,2359,779,2700,2752,2648,0,0,0,0,0,0,28.83,24.59,28.83
$STATE,2167,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2167,begin apogee
$GC,2175,-0.30,0.0,2359,1915,2752,2648,178.6,-6.6,413,2254,0.93,0.08,73.62,0.602,10246,0.111,0.119,2541,1870,2300,2369,2232,0,0,0,0,0,0,24.51,24.05,23.65
$STATE,2255,end apogee,CONTROL_FINISHED_OK
$STATE,2255,begin climb
$GC,2257,1.15,97.8,2541,1870,2369,2231,180.5,0.0,427,2341,1.55,2.65,74.50,0.586,10500,0.089,0.050,2863,3313,1900,1975,1826,0,0,0,0,0,0,24.15,24.08,23.65
$GC,2370,1.15,97.8,2863,3313,1975,1823,172.4,10.2,447,2377,0.00,2.50,0.00,0.000,1030,0.000,0.043,2863,1878,1898,1974,1822,0,0,0,0,0,0,28.83,24.30,28.83
$GC,2561,1.15,97.8,2863,1878,1975,1819,151.4,12.1,484,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1878,1897,1975,1819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2751,1.15,97.8,2863,1878,1974,1818,129.4,10.5,521,2757,0.00,2.50,0.00,0.000,260,0.000,0.050,2863,3312,1895,1974,1817,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2871,1.15,97.8,1792,3310,1912,1807,115.8,8.9,544,2877,0.00,2.50,0.00,0.000,1030,0.000,0.043,2863,1877,1895,1974,1816,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3061,1.15,97.8,2863,1876,1975,1816,91.6,13.8,581,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1877,1895,1975,1816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3251,1.15,97.8,2863,1877,1975,1816,70.8,10.3,618,3258,0.00,2.50,0.00,0.000,516,0.000,0.059,2864,472,1895,1975,1816,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3320,1.15,97.8,2863,472,1975,1816,61.9,13.5,631,3327,0.00,2.42,0.00,0.000,1030,0.000,0.034,2864,1912,1895,1975,1816,0,0,0,0,0,0,28.83,24.53,28.83
$GC,3512,1.15,97.8,2863,1912,1975,1816,41.7,8.9,668,3519,0.00,2.58,0.00,0.000,516,0.000,0.057,2864,468,1895,1975,1816,0,0,0,0,0,0,28.83,24.48,28.83
$GC,3710,1.20,137.6,2863,468,1974,1816,26.1,5.8,706,3750,0.00,2.45,30.17,0.504,9222,0.000,0.034,2864,1915,1738,1818,1659,0,0,0,0,0,0,28.83,24.57,23.77
$GC,3874,1.25,178.3,2864,1915,1818,1657,15.0,5.8,737,3915,0.12,2.50,32.12,0.490,10500,0.080,0.050,2899,3314,1573,1655,1491,0,0,0,0,0,0,24.53,24.17,23.75
$GC,4004,1.25,178.3,1840,3313,1611,1481,3.2,9.1,761,4011,0.00,2.50,0.00,0.000,1030,0.000,0.041,2899,1876,1570,1654,1486,0,0,0,0,0,0,28.83,24.44,28.83
$STATE,4015,end climb,SURFACE_DEPTH_REACHED
$STATE,4015,begin surface coast
$FINISH,-0.1,1.002390
$STATE,4049,end surface coast,CONTROL_FINISHED_OK
$STATE,4049,begin surface
$SM_CCo,4070,68.60,0.054,0,0,1076,300.00
$SM_GC,1.00,10.40,0.60,68.60,0.045,0.041,0.054,600,2224,1076,-9.22,-0.28,300.00,0,0,0,0,0,0,24.44,24.49,24.39
$IRIDIUM_FIX,4719.74,-12144.40,200215,050547
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.77
$INTERNAL_PRESSURE,9.1425
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.3,72.6
$24V_AH,23.6,0.857
$10V_AH,10.4,0.641
$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,22.950,55.125,210.425,68.600,0.000,117.783,171.488,522.568,1.500,0.000,38.745,1720.967,974.023,376.404,2025.972,191.979,33.235,969.732,0.000,1137.189,0.000,11.894,0.000
$DEVICE_MAMPS,153.000,121.635,602.055,53.550,0.000,54.320,160.000,223.000,420.000,0.000,30.710,12.060,2.190,12.060,38.280,45.020,64.490,14.900,0.000,14.980,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,543.375,648.422,653.468,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,11.240,68.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323280
$DATA_FILE_SIZE,53743,769
$CAP_FILE_SIZE,83551,0
$CFSIZE,260165632,258940928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200215,062035,4744.716,-12224.708,32,1.0,32,18.2