version: 66.12
glider: 130
mission: 32
dive: 1
start: 3 28 116 17 52 40
data:
$ID,130
$MISSION,32
$DIVE,1
$N_DIVES,1
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,45
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$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,15
$T_MISSION,25
$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,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52055
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.00285829
$HD_B,0.0114352
$HD_C,1.30115e-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,400
$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,6
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$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,2597
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,17
$PITCH_TIMEOUT,19
$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,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$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,2128
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$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
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-10.063459
$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,20
$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,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.1
$DEEPGLIDER,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,0.0043493826
$SEABIRD_T_H,0.00063626212
$SEABIRD_T_I,2.5578438e-05
$SEABIRD_T_J,2.8240738e-06
$SEABIRD_C_G,-10.043513
$SEABIRD_C_H,1.1284032
$SEABIRD_C_I,-0.0020332292
$SEABIRD_C_J,0.0002405866
$GPS1,280316,174746,4742.8862,-12224.4580,10,1.2,14,18.2,0.2,59.3,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-62.0
$GPS2,280316,175146,4742.8828,-12224.4189,9,1.4,13,18.2,0.3,97.0,8,4.9
$SPEED_LIMITS,0.173,0.247
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.008325,0.246935
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,339.9,2996,-18.0,-10.000,-22.03,2247
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.24,-146.0,594,1983,637,428,0.0,0.0,0,56,0.00,0.00,-37.75,0.000,16386,0.000,0.000,594,1983,1679,1707,1651,0,0,0,0,0,0,25.01,28.83,25.03
$GC,60,-1.24,-146.0,594,1983,1707,1649,2.2,-3.9,5,107,9.40,2.58,-28.92,0.000,18948,0.142,1.248,2317,590,2709,2762,2657,0,0,0,0,0,0,24.47,23.87,24.58
$GC,179,-1.24,-146.0,2317,591,2764,2657,14.6,-16.0,23,188,0.00,2.47,0.00,0.000,1030,0.000,0.045,2317,2016,2710,2764,2657,0,0,0,0,0,0,24.71,24.66,24.73
$GC,329,-1.24,-146.0,2317,2017,2765,2657,39.7,-16.1,48,338,0.00,2.47,0.00,0.000,260,0.000,0.060,2317,3400,2710,2764,2657,0,0,0,0,0,0,25.01,24.68,25.03
$STATE,362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,362,begin apogee
$GC,371,-0.29,0.0,2317,2002,2765,2657,45.6,-16.0,53,482,1.02,0.00,105.28,0.576,10246,0.109,0.000,2523,2001,2127,2193,2062,0,0,0,0,0,0,24.57,24.28,23.87
$STATE,483,end apogee,CONTROL_FINISHED_OK
$STATE,483,begin climb
$GC,485,1.24,146.0,2523,2001,2193,2062,55.2,0.0,69,605,1.58,2.58,107.47,0.551,10756,0.085,0.061,2857,594,1545,1619,1471,0,0,0,0,0,0,24.36,24.14,23.85
$GC,715,1.40,275.1,2857,594,1612,1470,54.3,4.1,106,826,0.12,2.45,97.12,0.549,11270,0.065,0.042,2891,2009,1030,1119,942,0,0,0,0,0,0,24.50,24.53,23.87
$GC,968,1.41,288.6,2891,2010,1118,937,33.5,9.4,146,986,0.00,2.47,10.95,0.478,8452,0.000,0.054,2891,3400,978,1070,886,0,0,0,0,0,0,24.79,24.24,23.94
$GC,1012,1.44,306.6,2890,3400,1070,883,29.5,9.2,152,1036,0.00,2.50,14.98,0.501,9222,0.000,0.048,2891,1998,907,1005,809,0,0,0,0,0,0,24.53,24.49,23.91
$GC,1180,1.45,315.4,2891,1997,1005,806,14.9,9.6,179,1197,0.00,2.58,7.85,0.449,8708,0.000,0.063,2891,588,871,973,770,0,0,0,0,0,0,24.82,24.29,23.99
$GC,1235,1.45,315.4,2891,588,972,770,8.8,11.5,187,1243,0.00,2.45,0.00,0.000,1030,0.000,0.043,2891,1996,871,972,770,0,0,0,0,0,0,24.59,24.56,24.61
$STATE,1296,end climb,SURFACE_DEPTH_REACHED
$STATE,1296,begin surface coast
$FINISH,0.2,1.018964
$STATE,1339,end surface coast,CONTROL_FINISHED_OK
$STATE,1339,begin surface
$SM_CCo,1359,50.38,0.518,0,0,534,400.16
$SM_GC,0.96,10.25,0.00,50.38,0.044,0.000,0.518,602,2000,534,-9.10,0.00,400.16,0,0,0,0,0,0,24.59,24.88,23.91
$IRIDIUM_FIX,4726.11,-12222.38,280316,174307
$TT8_MAMPS,0.024717,0.241178
$HUMID,45.55
$INTERNAL_PRESSURE,9.02023
$TCM_TEMP,14.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.7
$24V_AH,23.80,0.156
$10V_AH,10.29,0.083
$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,22.375,25.025,343.650,50.375,0.000,0.000,0.000,0.000,0.750,0.000,15.290,408.513,17.649,349.128,660.024,49.269,29.320,669.467,0.000,656.928,0.000,2.627,0.000
$DEVICE_MAMPS,142.290,1248.480,576.045,517.905,0.000,0.000,0.000,0.000,420.000,0.000,31.460,11.960,2.190,11.960,38.180,44.170,62.900,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,136.791,566.860,572.894,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,19.470,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312724
$DATA_FILE_SIZE,13691,204
$CAP_FILE_SIZE,69083,0
$CFSIZE,260165632,258785280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280316,181733,4743.171,-12224.211,8,1.6,42,18.2,0.2,48.2,9,5.3