version: 66.12
glider: 130
mission: 32
dive: 3
start: 3 28 116 20 5 17
data:
$ID,130
$MISSION,32
$DIVE,3
$N_DIVES,20
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,190
$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,65
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,280
$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,2660
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,15
$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,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,1600
$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,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,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
$GPS1,280316,200016,4743.5352,-12224.0420,9,1.2,49,18.2,0.3,162.0,7,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-59.9
$GPS2,280316,200403,4743.5234,-12224.0342,14,1.3,47,18.2,0.3,23.5,9,6.1
$SPEED_LIMITS,0.364,0.374
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.196686,0.317676
$KALMAN_X,343.436432,311.888214,291.061493,-465.876129,283.144257
$KALMAN_Y,184.057861,162.083450,148.444077,690.323303,152.461670
$MHEAD_RNG_PITCHd_Wd,310.0,1899,-9.4,-9.744,-14.62,5996
$D_GRID,171
$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,16,-0.98,-292.0,604,2101,581,419,0.0,0.0,0,56,0.00,0.00,-37.40,0.000,16386,0.000,0.000,604,2101,1643,1675,1611,0,0,0,0,0,0,24.93,28.83,24.96
$GC,60,-0.98,-292.0,603,2101,1675,1607,2.0,-3.7,5,106,10.00,0.00,-29.62,0.000,18694,0.143,0.000,2437,2102,2762,2817,2707,0,0,0,0,0,0,24.49,24.23,24.58
$GC,248,-0.98,-292.0,2436,2102,2819,2708,18.5,-11.4,35,257,0.00,2.53,0.00,0.000,260,0.000,0.060,2437,3502,2763,2818,2709,0,0,0,0,0,0,24.94,24.64,24.95
$GC,351,-0.98,-292.0,2436,3502,2819,2709,29.2,-10.5,52,360,0.00,2.47,0.00,0.000,1030,0.000,0.045,2437,2101,2763,2818,2709,0,0,0,0,0,0,24.71,24.66,24.74
$GC,500,-0.98,-292.0,2436,2101,2819,2709,45.3,-11.8,77,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2100,2764,2819,2709,0,0,0,0,0,0,24.98,25.00,25.00
$GC,646,-0.98,-292.0,2436,2101,2819,2709,60.0,-9.0,102,654,0.00,2.55,0.00,0.000,260,0.000,0.059,2437,3512,2763,2818,2709,0,0,0,0,0,0,25.00,24.70,25.01
$GC,753,-0.98,-292.0,2436,3512,2818,2709,70.3,-10.6,120,761,0.00,2.47,0.00,0.000,1030,0.000,0.044,2437,2103,2763,2818,2709,0,0,0,0,0,0,24.76,24.72,24.79
$GC,971,-0.98,-292.0,2437,2103,2819,2708,92.6,-10.6,157,978,0.00,2.50,0.00,0.000,516,0.000,0.061,2437,685,2763,2818,2708,0,0,0,0,0,0,25.03,24.70,25.05
$GC,1033,-0.98,-292.0,2436,685,2818,2709,98.9,-10.3,167,1039,0.00,2.40,0.00,0.000,1030,0.000,0.043,2437,2100,2764,2819,2709,0,0,0,0,0,0,24.84,24.76,24.86
$GC,1249,-0.98,-292.0,2436,2103,2818,2708,119.1,-9.1,204,1258,0.00,2.50,0.00,0.000,260,0.000,0.059,2437,3501,2763,2818,2708,0,0,0,0,0,0,25.06,24.75,25.07
$GC,1355,-0.98,-292.0,2436,3501,2819,2709,129.8,-9.8,222,1364,0.00,2.45,0.00,0.000,1030,0.000,0.045,2437,2104,2764,2819,2709,0,0,0,0,0,0,24.82,24.77,24.84
$GC,1572,-0.98,-292.0,2437,2104,2818,2709,150.1,-10.1,259,1578,0.00,2.47,0.00,0.000,260,0.000,0.059,2437,3505,2763,2818,2709,0,0,0,0,0,0,25.08,24.77,25.10
$GC,1622,-0.98,-292.0,2437,3505,2819,2708,154.9,-9.1,267,1629,0.00,2.40,0.00,0.000,1030,0.000,0.045,2437,2102,2763,2818,2709,0,0,0,0,0,0,24.87,24.78,24.89
$STATE,1799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1799,begin apogee
$GC,1805,-0.33,0.0,2437,2101,2819,2709,171.4,-10.0,298,2030,0.68,0.00,213.77,0.617,10246,0.096,0.000,2580,2101,1599,1673,1526,0,0,0,0,0,0,24.72,24.08,23.80
$STATE,2031,end apogee,CONTROL_FINISHED_OK
$STATE,2031,begin climb
$GC,2033,0.98,292.0,2579,2101,1673,1525,178.5,0.0,332,2254,1.38,2.55,208.18,0.594,11012,0.085,0.061,2862,692,499,617,381,0,0,0,0,0,0,24.31,24.07,23.79
$GC,2291,0.98,292.0,2862,692,616,381,159.9,10.2,371,2298,0.00,2.42,0.00,0.000,1030,0.000,0.042,2862,2101,498,616,381,0,0,0,0,0,0,24.47,24.40,24.49
$GC,2505,0.98,292.0,2862,2103,615,379,138.1,10.1,408,2513,0.00,2.58,0.00,0.000,516,0.000,0.063,2862,696,496,615,378,0,0,0,0,0,0,24.75,24.44,24.77
$GC,2573,0.98,292.0,2862,696,614,378,130.6,11.1,419,2580,0.00,2.40,0.00,0.000,1030,0.000,0.041,2862,2102,496,615,378,0,0,0,0,0,0,24.58,24.51,24.60
$GC,2786,0.98,292.0,2862,2106,614,378,108.6,10.4,456,2795,0.00,2.58,0.00,0.000,516,0.000,0.063,2862,695,496,615,378,0,0,0,0,0,0,24.80,24.49,24.82
$GC,2860,0.98,292.0,2862,695,614,378,100.7,11.3,468,2868,0.00,2.45,0.00,0.000,1030,0.000,0.042,2862,2102,496,614,378,0,0,0,0,0,0,24.60,24.56,24.61
$GC,3076,0.98,292.0,2862,2103,614,378,78.5,10.2,505,3083,0.00,2.53,0.00,0.000,516,0.000,0.062,2862,693,496,614,378,0,0,0,0,0,0,24.85,24.53,24.87
$GC,3172,0.98,292.0,2862,693,614,378,68.0,11.0,521,3179,0.00,2.42,0.00,0.000,1030,0.000,0.042,2862,2106,496,614,378,0,0,0,0,0,0,24.68,24.60,24.70
$GC,3388,1.08,370.1,2862,2110,614,377,47.4,8.4,558,3397,0.08,2.58,0.00,0.000,2564,0.096,0.062,2891,695,495,614,377,0,0,0,0,0,0,24.68,24.58,24.70
$GC,3452,1.08,370.1,2891,695,614,378,40.2,12.0,568,3460,0.00,2.42,0.00,0.000,1030,0.000,0.042,2892,2095,496,614,378,0,0,0,0,0,0,24.68,24.64,24.70
$GC,3603,1.08,370.1,2891,2096,614,378,23.3,11.2,593,3612,0.00,2.55,0.00,0.000,516,0.000,0.063,2891,697,495,614,377,0,0,0,0,0,0,24.92,24.60,24.94
$GC,3667,1.08,370.1,2891,697,614,377,15.3,12.4,603,3675,0.00,2.42,0.00,0.000,1030,0.000,0.043,2891,2095,495,614,377,0,0,0,0,0,0,24.70,24.66,24.72
$STATE,3785,end climb,SURFACE_DEPTH_REACHED
$STATE,3785,begin surface coast
$FINISH,0.2,1.012701
$STATE,3823,end surface coast,CONTROL_FINISHED_OK
$STATE,3823,begin surface
$SM_CCo,3844,-0.20,0.000,0,0,502,276.07
$SM_CCo,3848,0.28,0.088,0,0,500,276.32
$SM_CCo,3852,0.00,0.000,0,0,500,276.32
$SM_GC,1.64,10.25,0.00,0.00,0.043,0.000,0.000,593,2099,500,-9.44,-0.03,276.32,0,0,0,0,0,0,24.67,24.97,24.89
$IRIDIUM_FIX,4726.11,-12224.09,280316,195438
$TT8_MAMPS,0.024717,0.277879
$HUMID,47.79
$INTERNAL_PRESSURE,9.00069
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.5,72.3
$24V_AH,23.79,0.336
$10V_AH,10.30,0.221
$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,22.375,54.650,421.950,0.275,0.000,0.000,0.000,0.000,1.000,0.000,49.342,1353.567,348.328,409.145,1756.005,111.457,31.523,1050.905,0.000,1709.507,0.000,10.460,0.000
$DEVICE_MAMPS,143.055,63.495,616.590,87.975,0.000,0.000,0.000,0.000,420.000,0.000,31.460,11.960,2.190,11.960,38.180,44.170,62.900,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,428.530,1289.436,1306.164,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,19.470,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312756
$DATA_FILE_SIZE,43808,629
$CAP_FILE_SIZE,84282,0
$CFSIZE,260165632,258662400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280316,211051,4744.238,-12224.283,8,1.4,41,18.2,0.5,139.1,8,5.2