version: 66.12
glider: 130
mission: 32
dive: 19
start: 3 29 116 13 3 50
data:
$ID,130
$MISSION,32
$DIVE,19
$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,23
$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
$GPS1,290316,125728,4743.0444,-12224.5674,10,1.2,26,18.2,0.4,180.4,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-58.2
$GPS2,290316,130252,4742.9912,-12224.5654,11,1.6,15,18.2,0.3,189.0,8,5.1
$SPEED_LIMITS,0.143,0.233
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.074324,0.221187
$KALMAN_X,-1303.677368,-425.199707,143.583755,1403.890991,-206.140945
$KALMAN_Y,-5091.274902,-320.403320,257.174011,5357.110840,-197.322968
$MHEAD_RNG_PITCHd_Wd,0.4,2795,-24.0,-12.000,-27.22,1499
$D_GRID,177
$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,-116.8,608,2184,573,418,0.0,0.0,0,64,0.00,0.00,-45.25,0.000,16386,0.000,0.000,608,2185,1889,1928,1851,0,0,0,0,0,0,24.75,28.83,24.77
$GC,68,-1.67,-116.8,608,2186,1928,1851,2.3,-4.5,6,85,9.65,0.00,-4.50,0.000,18694,0.160,0.000,2294,2184,2079,2137,2022,0,0,0,0,0,0,24.32,23.73,24.42
$GC,229,-1.67,-116.8,2293,2184,2140,2022,23.0,-13.5,32,237,0.00,2.60,0.00,0.000,516,0.000,0.061,2294,763,2081,2141,2022,0,0,0,0,0,0,24.79,24.49,24.79
$GC,383,-1.67,-116.8,2293,763,2140,2022,45.1,-13.8,58,392,0.00,2.45,0.00,0.000,1030,0.000,0.041,2294,2172,2081,2140,2022,0,0,0,0,0,0,24.60,24.56,24.62
$GC,531,-1.67,-116.8,2293,2173,2140,2022,63.7,-12.3,83,537,0.00,2.47,0.00,0.000,260,0.000,0.055,2293,3577,2081,2140,2022,0,0,0,0,0,0,24.83,24.53,24.84
$GC,749,-1.67,-116.8,2293,3577,2140,2022,88.8,-9.4,121,756,0.00,2.42,0.00,0.000,1030,0.000,0.043,2293,2165,2081,2140,2022,0,0,0,0,0,0,24.67,24.58,24.68
$GC,962,-1.67,-116.8,2293,2165,2140,2022,115.6,-12.7,158,971,0.00,2.53,0.00,0.000,260,0.000,0.055,2294,3566,2081,2141,2022,0,0,0,0,0,0,24.87,24.58,24.89
$GC,1087,-1.67,-116.8,2293,3566,2140,2022,130.9,-12.7,179,1094,0.00,2.40,0.00,0.000,1030,0.000,0.042,2294,2166,2081,2140,2022,0,0,0,0,0,0,24.70,24.62,24.71
$GC,1300,-1.67,-116.8,2293,2166,2140,2022,155.1,-10.3,216,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2166,2081,2140,2022,0,0,0,0,0,0,24.91,24.92,24.92
$STATE,1513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1513,begin apogee
$GC,1519,-0.32,0.0,2293,2166,2140,2022,177.5,-10.2,253,1617,1.50,0.00,90.75,0.610,10246,0.124,0.000,2590,2166,1612,1683,1541,0,0,0,0,0,0,24.54,24.14,23.73
$STATE,1618,end apogee,CONTROL_FINISHED_OK
$STATE,1618,begin climb
$GC,1621,1.67,116.8,2590,2166,1684,1541,179.5,0.0,268,1722,2.08,2.53,90.47,0.597,10756,0.085,0.060,3015,773,1147,1227,1067,0,0,0,0,0,0,24.25,24.00,23.75
$GC,1774,1.67,116.8,3014,773,1223,1067,159.6,19.1,292,1783,0.00,2.45,0.00,0.000,1030,0.000,0.039,3015,2175,1144,1223,1066,0,0,0,0,0,0,24.44,24.39,24.46
$GC,1989,1.67,116.8,3014,2176,1222,1061,122.7,17.0,329,1996,0.00,2.53,0.00,0.000,516,0.000,0.060,3015,774,1142,1222,1062,0,0,0,0,0,0,24.73,24.43,24.75
$GC,2111,1.67,116.8,3014,773,1220,1061,100.8,16.9,350,2119,0.00,2.45,0.00,0.000,1030,0.000,0.040,3015,2180,1140,1220,1061,0,0,0,0,0,0,24.54,24.51,24.57
$GC,2327,1.67,116.8,3014,2181,1220,1059,67.2,16.8,387,2334,0.00,2.53,0.00,0.000,516,0.000,0.060,3015,768,1139,1220,1059,0,0,0,0,0,0,24.79,24.49,24.81
$GC,2412,1.67,116.8,3014,768,1220,1059,51.8,17.1,401,2418,0.00,2.42,0.00,0.000,1030,0.000,0.040,3015,2190,1139,1220,1059,0,0,0,0,0,0,24.62,24.55,24.64
$GC,2630,1.67,116.8,3014,2190,1220,1058,18.1,15.7,438,2639,0.00,2.58,0.00,0.000,516,0.000,0.060,3015,775,1139,1220,1058,0,0,0,0,0,0,24.83,24.53,24.84
$STATE,2725,end climb,SURFACE_DEPTH_REACHED
$STATE,2726,begin surface coast
$FINISH,0.2,1.020940
$STATE,2744,end surface coast,CONTROL_FINISHED_OK
$STATE,2746,begin surface
$SM_CCo,2770,103.55,0.490,0,0,499,279.59
$SM_CCo,2878,-0.03,0.000,0,0,501,279.59
$SM_CCo,2882,0.00,0.000,0,0,500,279.59
$SM_GC,0.82,10.85,2.42,0.00,0.044,0.038,0.000,599,2175,500,-9.44,-1.05,279.59,0,0,0,0,0,0,24.57,24.60,24.48
$IRIDIUM_FIX,4726.11,-12222.38,290316,120350
$TT8_MAMPS,0.024717,0.219457
$HUMID,46.41
$INTERNAL_PRESSURE,8.98116
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,23.50,1.300
$10V_AH,10.32,1.126
$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,24.075,34.775,181.225,103.550,0.000,24.794,51.422,137.442,0.000,0.000,17.597,1036.937,267.999,323.081,1479.461,112.135,33.455,749.577,0.000,1245.992,0.000,0.536,0.000
$DEVICE_MAMPS,159.885,61.200,609.705,490.365,0.000,58.140,160.000,223.000,420.000,0.000,31.460,11.960,2.190,11.960,38.180,44.170,62.900,15.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,312.592,940.782,949.166,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30365,457
$CAP_FILE_SIZE,48396,0
$CFSIZE,260165632,258064384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290316,135304,4743.050,-12224.412,10,1.2,31,18.2,0.5,210.4,9,6.0