version: 66.12
glider: 130
mission: 32
dive: 4
start: 3 28 116 21 20 49
data:
$ID,130
$MISSION,32
$DIVE,4
$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,2170
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$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,1613
$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
$GPS1,280316,211051,4744.2383,-12224.2832,8,1.4,41,18.2,0.5,139.1,8,5.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-58.6
$GPS2,280316,211934,4744.2002,-12224.2969,10,1.4,32,18.2,0.4,299.4,8,5.1
$SPEED_LIMITS,0.364,0.374
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.071120,-0.366804
$KALMAN_X,513.887756,452.437378,332.876709,-1148.531738,112.557404
$KALMAN_Y,254.556168,216.744583,164.716660,1804.146240,60.333557
$MHEAD_RNG_PITCHd_Wd,172.8,2237,-9.4,-9.744,-14.62,5996
$D_GRID,174
$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,-0.98,-292.0,593,2171,600,400,0.0,0.0,0,64,0.00,0.00,-45.12,0.000,16386,0.000,0.000,593,2172,1882,1911,1854,0,0,0,0,0,0,24.89,28.83,24.91
$GC,68,-0.98,-292.0,593,2172,1911,1854,2.4,-5.2,6,108,10.23,2.62,-19.48,0.000,18692,0.149,1.252,2437,3568,2778,2832,2724,0,0,0,0,0,0,24.42,23.66,24.53
$GC,410,-0.98,-292.0,2437,3568,2832,2727,39.6,-11.1,63,418,0.00,2.45,0.00,0.000,1030,0.000,0.045,2438,2172,2779,2832,2727,0,0,0,0,0,0,24.68,24.63,24.71
$GC,556,-0.98,-292.0,2437,2172,2832,2727,55.3,-10.1,88,565,0.00,2.55,0.00,0.000,260,0.000,0.060,2438,3578,2780,2832,2728,0,0,0,0,0,0,24.94,24.64,24.96
$GC,580,-0.98,-292.0,2437,3578,2832,2727,57.5,-10.1,91,586,0.00,2.42,0.00,0.000,1030,0.000,0.044,2438,2168,2779,2832,2727,0,0,0,0,0,0,24.74,24.65,24.75
$GC,793,-0.98,-292.0,2437,2166,2832,2727,79.3,-9.5,128,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2167,2779,2832,2727,0,0,0,0,0,0,24.96,24.99,24.98
$GC,1009,-0.98,-292.0,2437,2167,2832,2727,99.0,-9.2,165,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2166,2779,2832,2727,0,0,0,0,0,0,24.99,25.01,25.01
$GC,1224,-0.98,-292.0,2438,2166,2832,2727,120.1,-9.5,202,1233,0.00,2.55,0.00,0.000,260,0.000,0.060,2437,3576,2779,2832,2727,0,0,0,0,0,0,25.01,24.70,25.03
$GC,1274,-0.98,-292.0,2437,3576,2832,2727,125.3,-10.3,210,1282,0.00,2.47,0.00,0.000,1030,0.000,0.045,2438,2163,2779,2832,2727,0,0,0,0,0,0,24.77,24.72,24.80
$GC,1490,-0.98,-292.0,2437,2163,2832,2727,145.1,-9.1,247,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2163,2779,2832,2727,0,0,0,0,0,0,25.03,25.06,25.05
$GC,1702,-0.98,-292.0,2437,2163,2832,2727,165.7,-10.3,284,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2164,2779,2832,2727,0,0,0,0,0,0,25.05,25.08,25.07
$STATE,1790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1790,begin apogee
$GC,1796,-0.33,0.0,2438,2163,2832,2727,174.3,-10.2,299,2021,0.68,0.00,214.62,0.617,10246,0.084,0.000,2583,2163,1612,1686,1538,0,0,0,0,0,0,24.72,24.06,23.77
$STATE,2022,end apogee,CONTROL_FINISHED_OK
$STATE,2022,begin climb
$GC,2024,0.98,292.0,2583,2163,1686,1537,182.7,0.0,333,2250,1.33,2.58,210.38,0.591,11012,0.083,0.063,2859,778,499,619,380,0,0,0,0,0,0,24.29,24.17,23.77
$GC,2277,0.98,292.0,2858,778,618,380,163.9,10.6,371,2284,0.00,2.42,0.00,0.000,1030,0.000,0.041,2859,2183,499,618,380,0,0,0,0,0,0,24.45,24.38,24.47
$GC,2488,0.98,292.0,2858,2183,618,377,141.1,9.9,408,2497,0.00,2.60,0.00,0.000,516,0.000,0.063,2859,770,497,618,377,0,0,0,0,0,0,24.72,24.41,24.75
$GC,2594,0.98,292.0,2858,770,617,377,129.7,11.5,426,2603,0.00,2.45,0.00,0.000,1030,0.000,0.042,2859,2173,496,616,377,0,0,0,0,0,0,24.53,24.49,24.56
$GC,2810,0.98,292.0,2858,2174,617,377,108.1,9.9,463,2817,0.00,2.53,0.00,0.000,516,0.000,0.062,2859,769,497,617,377,0,0,0,0,0,0,24.79,24.48,24.81
$GC,2905,0.98,292.0,2859,769,617,377,97.0,12.5,479,2912,0.00,2.42,0.00,0.000,1030,0.000,0.041,2859,2186,497,617,377,0,0,0,0,0,0,24.62,24.55,24.64
$GC,3119,0.98,292.0,2859,2187,617,377,73.3,9.8,516,3127,0.00,2.58,0.00,0.000,516,0.000,0.063,2859,778,497,617,377,0,0,0,0,0,0,24.84,24.52,24.86
$GC,3236,0.98,292.0,2859,778,617,377,60.8,10.1,536,3244,0.00,2.45,0.00,0.000,1030,0.000,0.042,2859,2184,496,617,376,0,0,0,0,0,0,24.63,24.60,24.65
$GC,3455,1.01,313.7,2859,2183,617,377,40.6,9.4,573,3464,0.00,2.58,0.00,0.000,516,0.000,0.063,2859,773,497,617,377,0,0,0,0,0,0,24.87,24.56,24.90
$GC,3564,1.01,313.7,2859,773,617,377,29.3,10.2,591,3573,0.00,2.45,0.00,0.000,1030,0.000,0.041,2859,2182,496,617,376,0,0,0,0,0,0,24.67,24.63,24.69
$GC,3715,1.08,371.0,2858,2183,617,376,16.0,8.8,616,3724,0.08,2.58,0.00,0.000,2564,0.094,0.062,2889,773,497,618,376,0,0,0,0,0,0,24.70,24.58,24.71
$GC,3785,1.08,371.0,2888,773,617,376,7.5,12.0,627,3793,0.00,2.45,0.00,0.000,1030,0.000,0.042,2889,2180,497,617,377,0,0,0,0,0,0,24.69,24.65,24.71
$STATE,3822,end climb,SURFACE_DEPTH_REACHED
$STATE,3823,begin surface coast
$FINISH,0.5,1.020913
$STATE,3853,end surface coast,CONTROL_FINISHED_OK
$STATE,3853,begin surface
$SM_CCo,3933,0.00,0.000,0,0,496,280.59
$SM_GC,0.88,10.23,0.00,0.00,0.045,0.000,0.000,605,2184,496,-9.38,0.40,280.59,0,0,0,0,0,0,24.65,24.94,24.70
$IRIDIUM_FIX,4722.92,-12225.08,280316,211222
$TT8_MAMPS,0.024717,0.289114
$HUMID,47.40
$INTERNAL_PRESSURE,9.00069
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.4,72.8
$24V_AH,23.66,0.427
$10V_AH,10.30,0.290
$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,22.525,45.250,425.000,0.000,0.000,47.973,79.165,215.950,1.250,0.000,34.469,1371.737,455.607,402.365,2106.739,142.231,32.440,1050.271,0.000,1728.585,0.000,10.329,0.000
$DEVICE_MAMPS,149.175,1251.540,616.590,0.000,0.000,58.140,160.000,223.000,420.000,0.000,31.460,11.960,2.190,11.960,38.180,44.170,62.900,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,434.693,1302.078,1317.315,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,19.470,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312720
$DATA_FILE_SIZE,43598,638
$CAP_FILE_SIZE,66032,0
$CFSIZE,260165632,258629632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280316,222733,4743.791,-12224.653,11,1.6,33,18.2,0.3,264.4,8,4.9