version: 66.12
glider: 130
mission: 32
dive: 11
start: 3 29 116 5 17 28
data:
$ID,130
$MISSION,32
$DIVE,11
$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,120
$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,26
$R_STBD_OVSHOOT,31
$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
$GPS1,290316,051057,4742.5854,-12225.2246,9,1.5,42,18.2,0.0,290.7,9,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-63.3
$GPS2,290316,051630,4742.5864,-12225.2422,15,1.1,15,18.2,0.1,0.0,8,8.2
$SPEED_LIMITS,0.116,0.221
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.084801,0.203823
$KALMAN_X,-851.245056,-3.840868,-321.970367,148.471146,-209.039215
$KALMAN_Y,-3394.858154,-208.116913,-636.909912,3682.188232,-328.899292
$MHEAD_RNG_PITCHd_Wd,4.4,3662,-19.9,-9.744,-23.82,1845
$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,-1.40,-116.8,604,2182,569,423,0.0,0.0,0,64,0.00,0.00,-45.10,0.000,16386,0.000,0.000,604,2182,1886,1926,1847,0,0,0,0,0,0,24.76,28.83,24.79
$GC,68,-1.40,-116.8,604,2182,1927,1847,2.4,-4.7,6,93,9.80,2.62,-4.55,0.000,18692,0.153,1.245,2351,3563,2079,2138,2021,0,0,0,0,0,0,24.35,23.65,24.43
$GC,144,-1.40,-116.8,2350,3563,2139,2021,11.8,-11.9,17,152,0.00,2.45,0.00,0.000,1030,0.000,0.044,2351,2179,2080,2139,2021,0,0,0,0,0,0,24.50,24.46,24.53
$GC,295,-1.40,-116.8,2350,2178,2140,2021,28.3,-8.6,42,303,0.00,2.53,0.00,0.000,260,0.000,0.056,2351,3568,2080,2140,2021,0,0,0,0,0,0,24.79,24.49,24.81
$GC,426,-1.40,-116.8,2350,3568,2140,2022,43.7,-12.0,64,435,0.00,2.45,0.00,0.000,1030,0.000,0.043,2350,2174,2080,2140,2021,0,0,0,0,0,0,24.59,24.54,24.61
$GC,575,-1.40,-116.8,2350,2174,2140,2021,59.4,-10.7,89,582,0.00,2.53,0.00,0.000,516,0.000,0.060,2351,754,2081,2140,2022,0,0,0,0,0,0,24.83,24.53,24.85
$GC,694,-1.40,-116.8,2350,754,2141,2022,73.3,-11.5,109,700,0.00,2.40,0.00,0.000,1030,0.000,0.041,2351,2170,2081,2141,2022,0,0,0,0,0,0,24.66,24.59,24.68
$GC,907,-1.40,-116.8,2350,2171,2141,2022,94.6,-8.9,146,915,0.00,2.50,0.00,0.000,260,0.000,0.055,2351,3565,2081,2141,2021,0,0,0,0,0,0,24.87,24.58,24.89
$GC,975,-1.40,-116.8,2350,3565,2141,2021,102.6,-11.5,157,982,0.00,2.40,0.00,0.000,1030,0.000,0.042,2351,2169,2081,2141,2021,0,0,0,0,0,0,24.68,24.60,24.70
$GC,1195,-1.40,-116.8,2350,2168,2141,2021,124.2,-11.9,194,1203,0.00,2.55,0.00,0.000,516,0.000,0.061,2351,760,2081,2141,2021,0,0,0,0,0,0,24.89,24.59,24.91
$GC,1321,-1.40,-116.8,2350,760,2141,2021,141.0,-13.2,215,1327,0.00,2.40,0.00,0.000,1030,0.000,0.041,2350,2173,2081,2141,2022,0,0,0,0,0,0,24.72,24.65,24.74
$GC,1532,-1.40,-116.8,2350,2173,2141,2022,165.7,-9.8,252,1540,0.00,2.50,0.00,0.000,260,0.000,0.057,2351,3563,2081,2141,2022,0,0,0,0,0,0,24.93,24.63,24.94
$GC,1660,-1.40,-116.8,2350,3563,2141,2022,178.3,-9.9,274,1668,0.00,2.42,0.00,0.000,1030,0.000,0.043,2351,2173,2081,2141,2022,0,0,0,0,0,0,24.70,24.67,24.73
$STATE,1748,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1749,begin apogee
$GC,1755,-0.32,0.0,2350,2173,2141,2022,186.3,-8.8,289,1853,1.20,0.00,90.45,0.628,10246,0.115,0.000,2587,2173,1612,1682,1543,0,0,0,0,0,0,24.57,24.03,23.74
$STATE,1854,end apogee,CONTROL_FINISHED_OK
$STATE,1854,begin climb
$GC,1856,1.40,116.8,2587,2173,1682,1543,188.2,0.0,304,1957,1.77,2.55,90.68,0.601,10756,0.082,0.060,2954,771,1147,1228,1067,0,0,0,0,0,0,24.26,24.02,23.72
$GC,2009,1.40,116.8,2953,772,1224,1066,172.0,14.0,328,2018,0.00,2.45,0.00,0.000,1030,0.000,0.041,2954,2173,1144,1224,1065,0,0,0,0,0,0,24.44,24.41,24.47
$GC,2225,1.40,116.8,2953,2174,1225,1060,144.7,12.9,365,2232,0.00,2.53,0.00,0.000,516,0.000,0.060,2954,770,1142,1224,1060,0,0,0,0,0,0,24.74,24.44,24.76
$GC,2298,1.40,116.8,2953,770,1222,1059,134.2,14.5,377,2304,0.00,2.42,0.00,0.000,1030,0.000,0.040,2954,2189,1140,1222,1059,0,0,0,0,0,0,24.57,24.51,24.60
$GC,2511,1.40,116.8,2953,2189,1222,1058,106.4,12.8,414,2520,0.00,2.58,0.00,0.000,516,0.000,0.061,2954,778,1140,1222,1058,0,0,0,0,0,0,24.79,24.49,24.81
$GC,2628,1.40,116.8,2953,778,1221,1058,90.2,13.5,434,2637,0.00,2.45,0.00,0.000,1030,0.000,0.041,2954,2185,1140,1222,1058,0,0,0,0,0,0,24.59,24.56,24.62
$GC,2844,1.40,116.8,2953,2185,1222,1058,63.3,10.4,471,2851,0.00,2.53,0.00,0.000,516,0.000,0.061,2954,770,1140,1222,1058,0,0,0,0,0,0,24.83,24.53,24.85
$GC,2895,1.40,116.8,2953,770,1221,1057,57.9,10.4,479,2901,0.00,2.40,0.00,0.000,1030,0.000,0.040,2954,2182,1139,1221,1057,0,0,0,0,0,0,24.65,24.58,24.68
$GC,3113,1.41,124.9,2953,2182,1221,1058,36.8,9.3,516,3129,0.00,2.60,6.30,0.417,8708,0.000,0.062,2954,773,1115,1199,1031,0,0,0,0,0,0,24.87,24.47,24.07
$GC,3249,1.41,124.9,2953,773,1198,1031,19.9,14.2,538,3257,0.00,2.45,0.00,0.000,1030,0.000,0.041,2954,2178,1114,1198,1031,0,0,0,0,0,0,24.64,24.60,24.66
$STATE,3390,end climb,SURFACE_DEPTH_REACHED
$STATE,3390,begin surface coast
$FINISH,0.1,1.002659
$STATE,3416,end surface coast,CONTROL_FINISHED_OK
$STATE,3416,begin surface
$SM_CCo,3437,96.57,0.499,0,0,500,279.59
$SM_CCo,3537,-0.03,0.000,0,0,501,279.59
$SM_CCo,3541,0.00,0.000,0,0,500,279.59
$SM_GC,1.02,10.50,0.00,0.00,0.043,0.000,0.000,606,2183,500,-9.40,0.37,279.59,0,0,0,0,0,0,24.62,24.91,24.50
$IRIDIUM_FIX,4722.92,-12222.38,290316,040221
$TT8_MAMPS,0.024717,0.23968
$HUMID,46.92
$INTERNAL_PRESSURE,8.98116
$TCM_TEMP,13.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.1,80.8
$24V_AH,23.52,0.840
$10V_AH,10.32,0.715
$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,23.275,54.700,187.425,96.575,0.000,23.095,50.233,154.942,1.000,0.000,18.182,1283.472,336.118,345.510,1785.752,134.002,33.448,870.117,0.000,1540.811,0.000,10.475,0.000
$DEVICE_MAMPS,153.000,1244.655,628.065,498.780,0.000,58.140,160.000,223.000,420.000,0.000,31.460,11.960,2.190,11.960,38.180,44.170,62.900,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,387.581,1165.818,1178.978,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,19.470,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312684
$DATA_FILE_SIZE,40408,566
$CAP_FILE_SIZE,61570,0
$CFSIZE,260165632,258347008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290316,061751,4742.910,-12225.020,7,1.5,40,18.2,0.2,220.9,9,4.9