version: 66.12
glider: 130
mission: 32
dive: 15
start: 3 29 116 9 22 55
data:
$ID,130
$MISSION,32
$DIVE,15
$N_DIVES,25
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$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,50
$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,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,24
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,290316,091622,4743.9092,-12224.5371,12,1.4,28,18.2,0.3,200.3,8,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-64.4
$GPS2,290316,092157,4743.8643,-12224.5693,14,1.4,47,18.2,0.3,220.4,9,2.3
$SPEED_LIMITS,0.143,0.233
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.024714,0.232028
$KALMAN_X,-1130.927124,-511.663513,417.408325,1035.189453,-33.387939
$KALMAN_Y,-4936.864258,-550.563904,659.815063,6643.658691,-166.020630
$MHEAD_RNG_PITCHd_Wd,347.9,1180,-24.0,-12.000,-27.22,1499
$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,-1.67,-116.8,607,2180,567,424,0.0,0.0,0,57,0.00,0.00,-38.20,0.000,16386,0.000,0.000,607,2180,1698,1740,1657,0,0,0,0,0,0,24.76,28.83,24.78
$GC,61,-1.67,-116.8,607,2180,1739,1655,2.3,-4.6,5,85,9.38,0.00,-9.55,0.000,18694,0.148,0.000,2293,2180,2078,2140,2017,0,0,0,0,0,0,24.34,23.73,24.44
$GC,228,-1.67,-116.8,2293,2180,2141,2017,22.5,-16.3,32,237,0.00,2.53,0.00,0.000,260,0.000,0.057,2293,3570,2079,2141,2017,0,0,0,0,0,0,24.78,24.49,24.80
$GC,418,-1.67,-116.8,2293,3571,2141,2017,50.5,-14.1,64,427,0.00,2.47,0.00,0.000,1030,0.000,0.044,2293,2173,2079,2141,2018,0,0,0,0,0,0,24.58,24.55,24.61
$GC,634,-1.67,-116.8,2292,2173,2141,2018,79.2,-12.8,101,641,0.00,2.53,0.00,0.000,516,0.000,0.060,2293,753,2079,2141,2018,0,0,0,0,0,0,24.84,24.53,24.86
$GC,729,-1.67,-116.8,2292,753,2141,2018,92.4,-13.4,117,736,0.00,2.42,0.00,0.000,1030,0.000,0.041,2293,2180,2079,2141,2018,0,0,0,0,0,0,24.67,24.60,24.68
$GC,945,-1.67,-116.8,2292,2181,2141,2018,118.4,-12.3,154,953,0.00,2.50,0.00,0.000,260,0.000,0.057,2293,3568,2079,2141,2018,0,0,0,0,0,0,24.87,24.58,24.89
$GC,1155,-1.67,-116.8,2292,3568,2141,2017,143.1,-11.8,190,1163,0.00,2.45,0.00,0.000,1030,0.000,0.044,2293,2176,2079,2141,2017,0,0,0,0,0,0,24.67,24.62,24.69
$GC,1372,-1.67,-116.8,2293,2175,2141,2018,167.7,-11.7,227,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2176,2079,2141,2018,0,0,0,0,0,0,24.91,24.94,24.93
$STATE,1422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1422,begin apogee
$GC,1428,-0.32,0.0,2293,2175,2141,2018,174.0,-11.8,236,1528,1.50,0.00,90.20,0.610,10246,0.117,0.000,2585,2175,1612,1682,1542,0,0,0,0,0,0,24.53,24.02,23.72
$STATE,1529,end apogee,CONTROL_FINISHED_OK
$STATE,1529,begin climb
$GC,1531,1.67,116.8,2585,2175,1683,1542,176.9,0.0,251,1631,2.05,2.60,90.28,0.600,10756,0.081,0.060,3018,775,1147,1226,1069,0,0,0,0,0,0,24.27,24.13,23.72
$GC,1679,1.67,116.8,3017,775,1223,1069,159.0,17.9,274,1688,0.00,2.47,0.00,0.000,1030,0.000,0.040,3018,2178,1145,1222,1069,0,0,0,0,0,0,24.43,24.39,24.45
$GC,1896,1.67,116.8,3017,2178,1222,1063,124.8,16.7,311,1902,0.00,2.55,0.00,0.000,516,0.000,0.061,3018,770,1143,1223,1063,0,0,0,0,0,0,24.73,24.43,24.75
$GC,2017,1.67,116.8,3018,770,1221,1063,103.1,17.5,332,2025,0.00,2.45,0.00,0.000,1030,0.000,0.041,3018,2174,1142,1221,1063,0,0,0,0,0,0,24.54,24.51,24.57
$GC,2233,1.67,116.8,3017,2174,1221,1062,71.4,14.4,369,2240,0.00,2.50,0.00,0.000,516,0.000,0.060,3018,776,1141,1221,1061,0,0,0,0,0,0,24.79,24.49,24.81
$GC,2333,1.67,116.8,3017,776,1220,1061,56.5,13.8,386,2341,0.00,2.45,0.00,0.000,1030,0.000,0.041,3018,2181,1140,1220,1061,0,0,0,0,0,0,24.59,24.56,24.61
$GC,2552,1.67,116.8,3017,2181,1220,1061,27.2,14.5,423,2561,0.00,2.55,0.00,0.000,516,0.000,0.061,3018,782,1140,1220,1060,0,0,0,0,0,0,24.82,24.53,24.85
$GC,2587,1.67,116.8,3017,783,1220,1060,21.8,16.0,428,2595,0.00,2.42,0.00,0.000,1030,0.000,0.041,3018,2174,1140,1220,1060,0,0,0,0,0,0,24.61,24.58,24.65
$STATE,2705,end climb,SURFACE_DEPTH_REACHED
$STATE,2705,begin surface coast
$FINISH,0.0,1.020665
$STATE,2727,end surface coast,CONTROL_FINISHED_OK
$STATE,2727,begin surface
$SM_CCo,2748,104.03,0.490,0,0,499,279.59
$SM_CCo,2856,-0.03,0.000,0,0,501,279.59
$SM_CCo,2860,0.03,0.303,0,0,500,279.59
$SM_GC,0.88,10.80,0.00,0.03,0.042,0.000,0.303,604,2179,500,-9.42,0.23,279.59,0,0,0,0,0,0,24.58,24.87,24.30
$IRIDIUM_FIX,4722.92,-12222.38,290316,082118
$TT8_MAMPS,0.024717,0.240429
$HUMID,46.18
$INTERNAL_PRESSURE,8.98116
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,23.51,1.072
$10V_AH,10.31,0.927
$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,23.725,34.900,180.475,104.050,0.000,31.119,36.928,135.140,0.000,0.000,48.381,1025.153,261.104,324.205,1478.412,120.163,33.457,754.725,0.000,1237.420,0.000,0.535,0.000
$DEVICE_MAMPS,148.410,61.200,610.470,489.600,0.000,58.140,160.000,223.000,420.000,0.000,31.460,11.960,2.190,11.960,38.180,44.170,62.900,15.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,308.424,933.731,946.497,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,19.470,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312668
$DATA_FILE_SIZE,30366,451
$CAP_FILE_SIZE,48921,0
$CFSIZE,260165632,258211840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290316,101146,4744.209,-12224.364,12,1.1,29,18.2,0.2,222.5,9,4.7