version: 66.12
glider: 130
mission: 32
dive: 9
start: 3 29 116 3 0 4
data:
$ID,130
$MISSION,32
$DIVE,9
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,90
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$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,2665
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,15.5
$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,27
$R_STBD_OVSHOOT,16
$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,0.001
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,110
$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
$GPS1,290316,025333,4742.4517,-12225.1543,9,1.4,43,18.2,0.5,218.9,8,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-62.2
$GPS2,290316,025903,4742.4121,-12225.2041,13,1.2,16,18.2,0.2,271.4,8,9.3
$SPEED_LIMITS,0.116,0.192
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.072631,0.177567
$KALMAN_X,-445.762390,363.758667,-391.128906,-494.535645,-399.785797
$KALMAN_Y,-3031.093750,350.126251,-450.282928,2276.650879,-1210.035156
$MHEAD_RNG_PITCHd_Wd,4.0,3965,-23.3,-9.744,-26.93,1385
$D_GRID,190
$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,-1.59,-87.6,601,2152,589,401,0.0,0.0,0,65,0.00,0.00,-45.22,0.000,16386,0.000,0.000,601,2152,1880,1919,1842,0,0,0,0,0,0,24.83,28.83,24.85
$GC,68,-1.59,-87.6,601,2152,1919,1842,2.3,-4.9,6,85,9.43,0.00,-1.90,0.000,18950,0.148,0.000,2310,2152,1963,2017,1910,0,0,0,0,0,0,24.39,23.75,24.50
$GC,228,-1.59,-87.6,2310,2152,2020,1909,22.2,-14.0,32,237,0.00,2.60,0.00,0.000,260,0.000,0.057,2310,3580,1965,2020,1910,0,0,0,0,0,0,24.85,24.54,24.87
$GC,349,-1.59,-87.6,2310,3580,2020,1910,38.9,-13.0,52,357,0.00,2.47,0.00,0.000,1030,0.000,0.042,2310,2166,1964,2020,1909,0,0,0,0,0,0,24.65,24.60,24.68
$GC,499,-1.59,-87.6,2310,2166,2020,1909,53.3,-8.1,77,506,0.00,2.47,0.00,0.000,516,0.000,0.059,2310,761,1964,2020,1909,0,0,0,0,0,0,24.89,24.59,24.91
$GC,720,-1.59,-87.6,2310,761,2020,1909,76.2,-11.8,115,727,0.00,2.42,0.00,0.000,1030,0.000,0.041,2310,2194,1964,2020,1909,0,0,0,0,0,0,24.73,24.66,24.75
$GC,933,-1.59,-87.6,2310,2194,2020,1909,98.7,-9.2,152,941,0.00,2.45,0.00,0.000,260,0.000,0.057,2310,3561,1964,2020,1909,0,0,0,0,0,0,24.94,24.63,24.95
$GC,1097,-1.59,-87.6,2310,3561,2020,1909,113.3,-9.7,180,1106,0.00,2.42,0.00,0.000,1030,0.000,0.043,2310,2176,1964,2020,1909,0,0,0,0,0,0,24.72,24.68,24.75
$GC,1322,-1.59,-87.6,2310,2176,2020,1909,134.4,-10.1,217,1329,0.00,2.47,0.00,0.000,260,0.000,0.056,2310,3570,1964,2020,1909,0,0,0,0,0,0,24.96,24.65,24.98
$GC,1395,-1.59,-87.6,2310,3570,2020,1909,141.6,-10.6,229,1401,0.00,2.40,0.00,0.000,1030,0.000,0.043,2310,2171,1964,2020,1909,0,0,0,0,0,0,24.77,24.69,24.79
$GC,1609,-1.59,-87.6,2309,2170,2020,1909,161.3,-9.0,266,1617,0.00,2.53,0.00,0.000,260,0.000,0.057,2310,3565,1964,2020,1909,0,0,0,0,0,0,24.98,24.68,25.00
$GC,1700,-1.59,-87.6,2309,3565,2020,1908,169.0,-9.2,281,1707,0.00,2.40,0.00,0.000,1030,0.000,0.044,2310,2169,1964,2020,1909,0,0,0,0,0,0,24.79,24.70,24.81
$STATE,1899,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1899,begin apogee
$GC,1905,-0.32,0.0,2310,2168,2020,1909,186.5,-8.7,316,1980,1.40,0.00,68.75,0.627,10246,0.112,0.000,2588,2168,1613,1683,1543,0,0,0,0,0,0,24.61,24.18,23.76
$STATE,1981,end apogee,CONTROL_FINISHED_OK
$STATE,1981,begin climb
$GC,1983,1.59,87.6,2587,2168,1684,1543,188.4,0.0,327,2064,1.98,2.58,68.57,0.607,10756,0.083,0.061,3002,770,1263,1338,1189,0,0,0,0,0,0,24.28,24.04,23.75
$GC,2161,1.59,87.6,3001,770,1333,1188,168.1,14.5,355,2168,0.00,2.42,0.00,0.000,1030,0.000,0.041,3002,2184,1260,1333,1188,0,0,0,0,0,0,24.54,24.47,24.56
$GC,2374,1.59,87.6,3001,2185,1333,1183,137.0,15.3,392,2383,0.00,2.58,0.00,0.000,516,0.000,0.061,3002,779,1257,1332,1183,0,0,0,0,0,0,24.79,24.49,24.80
$GC,2465,1.59,87.6,3001,779,1331,1182,123.0,15.2,407,2472,0.00,2.40,0.00,0.000,1030,0.000,0.041,3002,2188,1257,1332,1182,0,0,0,0,0,0,24.62,24.55,24.63
$GC,2678,1.59,87.6,3001,2188,1332,1181,93.0,12.2,444,2687,0.00,2.58,0.00,0.000,516,0.000,0.061,3002,773,1256,1332,1181,0,0,0,0,0,0,24.83,24.53,24.85
$GC,2714,1.59,87.6,3001,773,1331,1181,88.7,13.4,449,2721,0.00,2.40,0.00,0.000,1030,0.000,0.041,3002,2184,1256,1331,1181,0,0,0,0,0,0,24.65,24.58,24.68
$GC,2927,1.59,87.6,3001,2184,1331,1180,61.2,13.4,486,2936,0.00,2.58,0.00,0.000,516,0.000,0.060,3002,770,1255,1331,1180,0,0,0,0,0,0,24.86,24.55,24.88
$GC,3146,1.59,87.6,3001,770,1331,1180,31.6,14.3,523,3154,0.00,2.45,0.00,0.000,1030,0.000,0.041,3002,2182,1255,1331,1180,0,0,0,0,0,0,24.67,24.63,24.70
$GC,3296,1.59,87.6,3001,2181,1331,1180,11.9,12.0,548,3305,0.00,2.55,0.00,0.000,516,0.000,0.060,3002,778,1255,1331,1179,0,0,0,0,0,0,24.90,24.61,24.92
$GC,3325,1.59,87.6,3001,778,1330,1179,8.3,11.9,552,3334,0.00,2.42,0.00,0.000,1030,0.000,0.042,3002,2173,1255,1331,1179,0,0,0,0,0,0,24.68,24.64,24.70
$STATE,3392,end climb,SURFACE_DEPTH_REACHED
$STATE,3392,begin surface coast
$FINISH,0.1,1.011201
$STATE,3428,end surface coast,CONTROL_FINISHED_OK
$STATE,3428,begin surface
$SM_CCo,3449,117.38,0.506,0,0,500,279.59
$SM_CCo,3570,-0.08,0.000,0,0,501,279.59
$SM_CCo,3574,0.08,0.173,0,0,500,279.59
$SM_GC,0.92,10.68,0.00,0.08,0.041,0.000,0.173,605,2176,500,-9.41,0.20,279.59,0,0,0,0,0,0,24.65,24.93,24.25
$IRIDIUM_FIX,4722.92,-12222.38,290316,014219
$TT8_MAMPS,0.024717,0.277879
$HUMID,45.98
$INTERNAL_PRESSURE,8.99093
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.2,76.0
$24V_AH,23.52,0.727
$10V_AH,10.32,0.592
$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,23.475,52.025,137.325,117.450,0.000,22.828,35.304,166.104,1.500,0.000,20.678,1311.185,355.961,329.055,1784.174,137.908,33.446,834.254,0.000,1541.577,0.000,15.016,0.000
$DEVICE_MAMPS,147.645,61.200,626.535,506.430,0.000,58.140,160.000,223.000,420.000,0.000,31.460,11.960,2.190,11.960,38.180,44.170,62.900,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,390.382,1156.680,1166.587,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,19.470,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312700
$DATA_FILE_SIZE,40341,569
$CAP_FILE_SIZE,61631,0
$CFSIZE,260165632,258433024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290316,040057,4742.466,-12225.295,10,1.4,37,18.2,0.2,248.9,8,4.6