version: 66.12
glider: 130
mission: 32
dive: 10
start: 3 29 116 4 7 32
data:
$ID,130
$MISSION,32
$DIVE,10
$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,25
$R_STBD_OVSHOOT,29
$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
$GPS1,290316,040057,4742.4663,-12225.2949,10,1.4,37,18.2,0.2,248.9,8,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-61.7
$GPS2,290316,040634,4742.4458,-12225.3350,14,1.2,30,18.2,0.2,273.2,8,4.6
$SPEED_LIMITS,0.116,0.192
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.090752,0.169025
$KALMAN_X,-786.989380,223.120270,-362.469788,-214.160248,-443.504822
$KALMAN_Y,-3342.312988,96.625977,-569.759155,2997.579590,-987.711243
$MHEAD_RNG_PITCHd_Wd,10.0,3944,-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,-87.6,604,2177,572,421,0.0,0.0,0,64,0.00,0.00,-44.88,0.000,16386,0.000,0.000,604,2178,1884,1925,1843,0,0,0,0,0,0,24.77,28.83,24.79
$GC,68,-1.59,-87.6,604,2177,1924,1843,2.4,-5.1,6,85,9.50,0.00,-1.85,0.000,18438,0.149,0.000,2310,2177,1964,2018,1910,0,0,0,0,0,0,24.33,23.71,24.44
$GC,228,-1.59,-87.6,2309,2177,2019,1910,21.6,-12.2,32,237,0.00,2.53,0.00,0.000,260,0.000,0.057,2310,3572,1965,2019,1911,0,0,0,0,0,0,24.80,24.49,24.82
$GC,496,-1.59,-87.6,2309,3572,2020,1910,52.5,-11.2,78,505,0.00,2.45,0.00,0.000,1030,0.000,0.044,2310,2176,1965,2020,1910,0,0,0,0,0,0,24.61,24.56,24.64
$GC,711,-1.59,-87.6,2309,2175,2020,1911,73.6,-8.7,115,718,0.00,2.53,0.00,0.000,516,0.000,0.060,2310,752,1965,2020,1910,0,0,0,0,0,0,24.87,24.56,24.89
$GC,1071,-1.59,-87.6,2309,752,2020,1910,104.8,-7.3,177,1078,0.00,2.42,0.00,0.000,1030,0.000,0.041,2310,2182,1965,2020,1910,0,0,0,0,0,0,24.71,24.65,24.73
$GC,1287,-1.59,-87.6,2309,2183,2020,1910,120.2,-8.0,214,1295,0.00,2.47,0.00,0.000,260,0.000,0.057,2310,3561,1965,2020,1910,0,0,0,0,0,0,24.90,24.62,24.92
$GC,1583,-1.59,-87.6,2309,3560,2020,1910,147.3,-9.2,264,1592,0.00,2.42,0.00,0.000,1030,0.000,0.044,2310,2172,1965,2020,1910,0,0,0,0,0,0,24.71,24.67,24.74
$GC,1798,-1.59,-87.6,2309,2172,2020,1910,165.7,-8.0,301,1805,0.00,2.47,0.00,0.000,260,0.000,0.057,2309,3567,1965,2020,1910,0,0,0,0,0,0,24.96,24.65,24.97
$GC,1984,-1.59,-87.6,2309,3567,2020,1910,181.3,-8.4,333,1990,0.00,2.40,0.00,0.000,1030,0.000,0.044,2310,2166,1965,2020,1910,0,0,0,0,0,0,24.78,24.70,24.79
$STATE,2035,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2035,begin apogee
$GC,2041,-0.32,0.0,2310,2166,2020,1910,186.0,-8.1,342,2116,1.42,0.00,69.12,0.630,10246,0.119,0.000,2587,2166,1613,1682,1544,0,0,0,0,0,0,24.59,24.17,23.74
$STATE,2117,end apogee,CONTROL_FINISHED_OK
$STATE,2117,begin climb
$GC,2120,1.59,87.6,2587,2166,1682,1544,188.0,0.0,353,2199,1.95,0.00,68.55,0.615,10246,0.080,0.000,3001,2166,1264,1337,1192,0,0,0,0,0,0,24.27,24.02,23.73
$GC,2407,1.59,87.6,3001,2166,1335,1185,152.0,15.0,401,2414,0.00,2.50,0.00,0.000,516,0.000,0.061,3001,775,1259,1334,1185,0,0,0,0,0,0,24.75,24.45,24.77
$GC,2457,1.59,87.6,3001,775,1333,1185,143.8,16.8,409,2464,0.00,2.40,0.00,0.000,1030,0.000,0.041,3001,2178,1258,1333,1184,0,0,0,0,0,0,24.58,24.51,24.60
$GC,2673,1.59,87.6,3001,2178,1333,1183,114.6,14.3,446,2682,0.00,2.58,0.00,0.000,516,0.000,0.061,3001,777,1258,1333,1183,0,0,0,0,0,0,24.81,24.51,24.82
$GC,2723,1.59,87.6,3000,777,1332,1182,106.8,15.9,454,2731,0.00,2.45,0.00,0.000,1030,0.000,0.041,3001,2172,1257,1332,1182,0,0,0,0,0,0,24.59,24.56,24.62
$GC,2940,1.59,87.6,3000,2172,1332,1181,75.5,12.8,491,2947,0.00,2.53,0.00,0.000,516,0.000,0.060,3001,770,1257,1332,1182,0,0,0,0,0,0,24.84,24.53,24.86
$GC,3061,1.59,87.6,3001,770,1331,1181,58.4,14.2,512,3070,0.00,2.45,0.00,0.000,1030,0.000,0.041,3001,2176,1256,1331,1181,0,0,0,0,0,0,24.63,24.60,24.66
$GC,3281,1.59,87.6,3000,2176,1331,1181,34.2,11.7,549,3289,0.00,2.55,0.00,0.000,516,0.000,0.060,3001,776,1255,1331,1180,0,0,0,0,0,0,24.88,24.57,24.89
$GC,3378,1.59,87.6,3000,776,1331,1181,21.3,14.7,565,3388,0.00,2.45,0.00,0.000,1030,0.000,0.043,3001,2177,1256,1331,1181,0,0,0,0,0,0,24.66,24.63,24.70
$GC,3530,1.59,87.6,3001,2177,1331,1180,4.5,12.4,590,3538,0.00,2.55,0.00,0.000,516,0.000,0.062,3001,777,1256,1331,1181,0,0,0,0,0,0,24.90,24.59,24.92
$STATE,3545,end climb,SURFACE_DEPTH_REACHED
$STATE,3545,begin surface coast
$FINISH,0.1,1.011895
$STATE,3570,end surface coast,CONTROL_FINISHED_OK
$STATE,3570,begin surface
$SM_CCo,3593,119.62,0.500,0,0,499,279.59
$SM_CCo,3717,-0.08,0.000,0,0,501,279.59
$SM_CCo,3721,0.12,0.126,0,0,500,279.59
$SM_GC,0.89,10.73,2.45,0.12,0.044,0.041,0.126,605,2177,500,-9.41,-0.79,279.59,0,0,0,0,0,0,24.63,24.65,24.25
$IRIDIUM_FIX,4722.92,-12225.08,290316,025457
$TT8_MAMPS,0.024717,0.218708
$HUMID,46.18
$INTERNAL_PRESSURE,8.98116
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.0,65.8
$24V_AH,23.51,0.781
$10V_AH,10.31,0.655
$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,23.600,44.600,137.675,119.750,0.000,24.023,35.315,158.904,1.750,0.000,33.162,1366.477,378.907,323.777,1864.797,135.712,33.436,839.258,0.000,1614.554,0.000,13.500,0.000
$DEVICE_MAMPS,149.175,61.965,629.595,500.310,0.000,58.140,160.000,223.000,420.000,0.000,31.460,11.960,2.190,11.960,38.180,44.170,62.900,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.223,1212.376,1224.717,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,19.470,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312712
$DATA_FILE_SIZE,40265,596
$CAP_FILE_SIZE,61362,0
$CFSIZE,260165632,258396160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290316,051057,4742.585,-12225.225,9,1.5,42,18.2,0.0,290.7,9,5.3