version: 66.11
glider: 130
mission: 28
dive: 2
start: 2 27 115 18 59 3
data:
$ID,130
$MISSION,28
$DIVE,2
$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,60
$T_MISSION,75
$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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-173991.97
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,600
$PITCH_MAX,3702
$C_PITCH,2624
$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,2110
$C_ROLL_CLIMB,1930
$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,2306
$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,5
$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,-9.5762939
$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,80
$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,49
$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
$GPS1,270215,185030,4743.232,-12224.252,11,1.2,11,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-58.3
$GPS2,270215,185807,4743.175,-12224.284,13,1.2,13,18.2
$SPEED_LIMITS,0.143,0.239
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.032,0.237
$KALMAN_X,10.6,10.6,10.6,-72.1,48.3
$KALMAN_Y,-52.8,-52.8,-52.8,-251.2,-241.1
$MHEAD_RNG_PITCHd_Wd,334.1,2469,-16.9,-10.000,-22.72,2236
$D_GRID,175
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.21,-146.6,600,2077,939,805,0.0,0.0,0,73,0.00,0.00,-54.22,0.000,16386,0.000,0.000,600,2077,2432,2472,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-1.21,-146.6,600,2077,2472,2393,2.2,-5.5,10,107,10.52,2.65,-13.35,0.000,18692,0.177,0.063,2353,3532,2905,2958,2853,0,0,0,0,0,0,24.20,24.37,24.70
$GC,151,-1.21,-146.6,2353,3532,2958,2854,7.8,-10.6,23,157,0.00,2.50,0.00,0.000,1030,0.000,0.042,2353,2092,2906,2958,2854,0,0,0,0,0,0,28.83,24.42,28.83
$GC,280,-1.21,-146.6,1408,2090,2908,2846,24.1,-11.5,48,285,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2092,2906,2958,2855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,408,-1.21,-146.6,1408,2090,2908,2846,39.6,-12.4,73,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2092,2906,2958,2855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,536,-1.21,-146.6,2353,2092,2958,2855,56.1,-12.3,98,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2092,2906,2958,2855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,726,-1.21,-146.6,2353,2092,2958,2855,77.5,-10.6,135,732,0.00,2.55,0.00,0.000,260,0.000,0.050,2353,3540,2906,2958,2855,0,0,0,0,0,0,28.83,24.48,28.83
$GC,881,-1.21,-146.6,2353,3540,2959,2855,94.1,-10.4,165,888,0.00,2.50,0.00,0.000,1030,0.000,0.041,2353,2090,2906,2958,2855,0,0,0,0,0,0,28.83,24.52,28.83
$GC,1072,-1.21,-146.6,2353,2090,2958,2855,114.0,-10.4,202,1079,0.00,2.53,0.00,0.000,260,0.000,0.050,2354,3531,2906,2958,2855,0,0,0,0,0,0,28.83,24.51,28.83
$GC,1142,-1.21,-146.6,2353,3531,2958,2855,121.8,-11.1,215,1149,0.00,2.47,0.00,0.000,1030,0.000,0.041,2354,2091,2906,2958,2855,0,0,0,0,0,0,28.83,24.54,28.83
$GC,1340,-1.21,-146.6,2353,2090,2958,2855,144.0,-11.6,252,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2090,2906,2958,2855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1529,-1.21,-146.6,2353,2091,2958,2855,165.1,-10.7,289,1536,0.00,2.53,0.00,0.000,260,0.000,0.050,2353,3538,2906,2958,2855,0,0,0,0,0,0,28.83,24.55,28.83
$GC,1584,-1.21,-146.6,2353,3538,2958,2855,171.2,-11.1,299,1590,0.00,2.47,0.00,0.000,1030,0.000,0.041,2353,2097,2906,2958,2855,0,0,0,0,0,0,28.83,24.58,28.83
$STATE,1621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1621,begin apogee
$GC,1627,-0.30,0.0,2353,1908,2958,2855,175.5,-10.6,306,1743,1.05,0.08,109.20,0.589,10246,0.132,0.109,2549,1959,2305,2361,2250,0,0,0,0,0,0,24.44,24.05,23.67
$STATE,1746,end apogee,CONTROL_FINISHED_OK
$STATE,1746,begin climb
$GC,1749,1.21,146.6,2548,1959,2361,2250,179.8,0.0,327,1870,1.65,2.67,110.95,0.575,10756,0.103,0.063,2882,512,1707,1770,1645,0,0,0,0,0,0,24.16,24.06,23.65
$GC,1880,1.21,146.6,2882,512,1770,1645,168.6,12.5,350,1886,0.00,2.47,0.00,0.000,1030,0.000,0.035,2882,1953,1707,1770,1644,0,0,0,0,0,0,28.83,24.25,28.83
$GC,2070,1.21,146.6,2882,1957,1769,1639,145.2,11.8,387,2077,0.00,2.42,0.00,0.000,260,0.000,0.049,2882,3352,1703,1769,1638,0,0,0,0,0,0,28.83,24.37,28.83
$GC,2120,1.21,146.6,2882,3352,1768,1636,139.6,11.2,396,2126,0.00,2.53,0.00,0.000,1030,0.000,0.045,2882,1914,1701,1768,1635,0,0,0,0,0,0,28.83,24.39,28.83
$GC,2312,1.21,146.6,2882,1913,1768,1635,117.9,11.7,433,2319,0.00,2.53,0.00,0.000,260,0.000,0.048,2882,3358,1701,1768,1635,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2352,1.21,146.6,2882,3358,1768,1634,113.1,11.4,440,2358,0.00,2.53,0.00,0.000,1030,0.000,0.046,2882,1920,1701,1768,1635,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2543,1.21,146.6,2882,1920,1768,1635,89.7,12.1,477,2549,0.00,2.50,0.00,0.000,260,0.000,0.048,2882,3355,1701,1769,1634,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2612,1.21,146.6,2882,3355,1768,1634,81.1,12.7,490,2619,0.00,2.53,0.00,0.000,1030,0.000,0.045,2882,1912,1701,1768,1634,0,0,0,0,0,0,28.83,24.46,28.83
$GC,2802,1.21,146.6,2882,1912,1768,1634,58.4,11.3,527,2809,0.00,2.50,0.00,0.000,260,0.000,0.047,2882,3353,1701,1768,1634,0,0,0,0,0,0,28.83,24.47,28.83
$GC,2872,1.21,146.6,2882,3353,1768,1633,50.6,10.9,540,2878,0.00,2.50,0.00,0.000,1030,0.000,0.044,2882,1918,1700,1768,1633,0,0,0,0,0,0,28.83,24.49,28.83
$GC,3062,1.21,146.6,1824,1917,1718,1626,30.4,11.0,577,3069,0.00,2.53,0.00,0.000,260,0.000,0.048,2882,3356,1700,1768,1633,0,0,0,0,0,0,28.83,24.50,28.83
$GC,3086,1.21,146.6,1824,3355,1718,1626,27.6,11.8,581,3093,0.00,2.53,0.00,0.000,1030,0.000,0.045,2882,1915,1700,1768,1633,0,0,0,0,0,0,28.83,24.51,28.83
$GC,3217,1.21,146.6,2882,1914,1768,1633,12.5,11.3,606,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1915,1700,1768,1633,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3308,end climb,SURFACE_DEPTH_REACHED
$STATE,3308,begin surface coast
$FINISH,0.2,1.023040
$STATE,3342,end surface coast,CONTROL_FINISHED_OK
$STATE,3342,begin surface
$SM_CCo,3362,106.60,0.052,0,0,879,350.04
$SM_GC,0.93,10.27,0.38,106.60,0.044,0.049,0.052,597,2142,879,-9.27,-0.37,350.04,0,0,0,0,0,0,24.55,24.59,24.44
$IRIDIUM_FIX,4722.92,-12222.38,270215,181809
$TT8_MAMPS,0.024717,0.024717
$HUMID,40.58
$INTERNAL_PRESSURE,8.78116
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.6,49.2
$24V_AH,23.6,2.105
$10V_AH,10.3,1.837
$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,23.500,51.275,220.150,106.600,0.000,63.784,94.942,140.644,3.750,0.000,16.047,1393.693,697.515,431.836,1255.490,157.622,30.073,944.753,0.000,935.171,0.000,28.366,0.000
$DEVICE_MAMPS,176.715,109.395,589.050,52.020,0.000,54.320,160.000,223.000,420.000,0.000,30.710,12.060,2.190,12.060,38.280,45.020,64.490,14.900,0.000,14.980,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,429.606,535.412,539.180,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,11.240,68.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323296
$DATA_FILE_SIZE,43591,630
$CAP_FILE_SIZE,65048,0
$CFSIZE,260165632,259305472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270215,195736,4743.469,-12224.472,11,1.8,11,18.2