version: 66.12
glider: 130
mission: 32
dive: 20
start: 3 29 116 14 3 11
data:
$ID,130
$MISSION,32
$DIVE,20
$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,25
$R_STBD_OVSHOOT,36
$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
$GPS1,290316,135304,4743.0498,-12224.4121,10,1.2,31,18.2,0.5,210.4,9,6.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-61.4
$GPS2,290316,140213,4742.9116,-12224.4443,13,1.3,20,18.2,0.6,184.4,9,5.5
$SPEED_LIMITS,0.143,0.233
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.034728,0.230742
$KALMAN_X,-1221.444214,-364.899811,-75.758911,1628.420654,-107.811249
$KALMAN_Y,-5767.346680,-158.531189,3.157875,5986.326660,-417.928162
$MHEAD_RNG_PITCHd_Wd,350.4,2942,-24.0,-12.000,-27.22,1499
$D_GRID,176
$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,-116.8,599,2180,569,420,0.0,0.0,0,64,0.00,0.00,-44.95,0.000,16386,0.000,0.000,598,2180,1888,1929,1847,0,0,0,0,0,0,24.75,28.83,24.77
$GC,68,-1.67,-116.8,598,2180,1929,1847,2.4,-4.8,6,85,9.73,0.00,-4.50,0.000,18694,0.162,0.000,2292,2180,2080,2138,2022,0,0,0,0,0,0,24.32,23.72,24.44
$GC,229,-1.67,-116.8,2291,2180,2140,2022,22.5,-11.8,32,238,0.00,2.58,0.00,0.000,516,0.000,0.059,2292,766,2081,2140,2022,0,0,0,0,0,0,24.79,24.49,24.80
$GC,356,-1.67,-116.8,2291,766,2141,2022,40.0,-13.8,53,364,0.00,2.42,0.00,0.000,1030,0.000,0.039,2292,2164,2081,2140,2022,0,0,0,0,0,0,24.60,24.56,24.62
$GC,501,-1.67,-116.8,2291,2164,2140,2022,59.1,-12.7,78,510,0.00,2.53,0.00,0.000,260,0.000,0.054,2291,3573,2081,2141,2022,0,0,0,0,0,0,24.82,24.53,24.84
$GC,801,-1.67,-116.8,2291,3573,2140,2021,98.2,-13.9,130,809,0.00,2.45,0.00,0.000,1030,0.000,0.043,2292,2175,2081,2140,2022,0,0,0,0,0,0,24.63,24.59,24.66
$GC,1016,-1.67,-116.8,2291,2175,2140,2022,123.8,-10.6,167,1022,0.00,2.47,0.00,0.000,260,0.000,0.053,2292,3577,2081,2140,2022,0,0,0,0,0,0,24.88,24.58,24.90
$GC,1070,-1.67,-116.8,2291,3577,2140,2022,129.8,-11.4,176,1078,0.00,2.47,0.00,0.000,1030,0.000,0.043,2292,2163,2081,2140,2022,0,0,0,0,0,0,24.65,24.63,24.68
$GC,1288,-1.67,-116.8,2291,2163,2140,2022,155.5,-11.2,213,1295,0.00,2.50,0.00,0.000,260,0.000,0.054,2292,3578,2081,2140,2022,0,0,0,0,0,0,24.91,24.60,24.92
$GC,1387,-1.67,-116.8,2291,3579,2140,2022,167.1,-11.3,230,1396,0.00,2.45,0.00,0.000,1030,0.000,0.042,2292,2173,2081,2140,2022,0,0,0,0,0,0,24.70,24.65,24.70
$STATE,1466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1466,begin apogee
$GC,1472,-0.32,0.0,2292,2173,2140,2022,176.3,-12.3,243,1570,1.50,0.00,90.55,0.605,10246,0.125,0.000,2588,2173,1613,1683,1543,0,0,0,0,0,0,24.53,24.14,23.72
$STATE,1571,end apogee,CONTROL_FINISHED_OK
$STATE,1571,begin climb
$GC,1574,1.67,116.8,2588,2173,1684,1543,179.5,0.0,258,1675,2.08,2.53,90.38,0.595,10756,0.083,0.059,3015,774,1148,1227,1070,0,0,0,0,0,0,24.25,24.00,23.71
$GC,1712,1.67,116.8,3015,774,1225,1069,163.8,17.6,279,1719,0.00,2.42,0.00,0.000,1030,0.000,0.038,3015,2189,1147,1224,1070,0,0,0,0,0,0,24.44,24.38,24.46
$GC,1925,1.67,116.8,3014,2189,1224,1063,126.4,17.2,316,1934,0.00,2.60,0.00,0.000,516,0.000,0.060,3015,771,1143,1223,1063,0,0,0,0,0,0,24.73,24.41,24.75
$GC,1971,1.67,116.8,3014,771,1222,1063,118.2,18.7,323,1978,0.00,2.42,0.00,0.000,1030,0.000,0.038,3015,2186,1142,1222,1063,0,0,0,0,0,0,24.56,24.49,24.58
$GC,2187,1.67,116.8,3014,2186,1222,1062,81.5,16.0,360,2196,0.00,2.58,0.00,0.000,516,0.000,0.060,3015,780,1142,1222,1062,0,0,0,0,0,0,24.78,24.48,24.79
$GC,2302,1.67,116.8,3014,780,1221,1062,60.4,18.5,379,2309,0.00,2.40,0.00,0.000,1030,0.000,0.040,3015,2184,1141,1221,1062,0,0,0,0,0,0,24.61,24.54,24.63
$GC,2519,1.67,116.8,3014,2184,1221,1061,25.3,15.4,416,2527,0.00,2.58,0.00,0.000,516,0.000,0.061,3015,779,1141,1221,1061,0,0,0,0,0,0,24.82,24.53,24.84
$STATE,2649,end climb,SURFACE_DEPTH_REACHED
$STATE,2649,begin surface coast
$FINISH,0.1,1.020977
$STATE,2669,end surface coast,CONTROL_FINISHED_OK
$STATE,2670,begin surface
$SM_CCo,2693,100.43,0.486,0,0,500,279.59
$SM_CCo,2797,0.00,0.000,0,0,499,279.59
$SM_CCo,2801,-0.10,0.000,0,0,502,279.33
$SM_GC,0.79,10.73,2.45,-0.10,0.039,0.041,0.000,605,2171,502,-9.41,-0.76,279.33,0,0,0,0,0,0,24.58,24.58,24.23
$IRIDIUM_FIX,4722.92,-12220.67,290316,135436
$TT8_MAMPS,0.024717,0.286867
$HUMID,45.11
$INTERNAL_PRESSURE,8.98116
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,23.53,1.365
$10V_AH,10.32,1.177
$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,24.025,39.850,180.925,100.425,0.000,58.984,79.123,250.688,0.000,0.000,22.299,1004.237,305.130,322.682,1597.006,135.143,33.450,746.984,0.000,1205.788,0.000,0.536,0.000
$DEVICE_MAMPS,162.180,61.200,605.115,485.775,0.000,58.140,160.000,223.000,420.000,0.000,31.460,11.960,2.190,11.960,38.180,44.170,62.900,15.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,301.463,911.283,918.608,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,19.470,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312760
$DATA_FILE_SIZE,30272,441
$CAP_FILE_SIZE,52430,0
$CFSIZE,260165632,258023424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290316,145103,4743.050,-12224.417,8,1.9,29,18.2,0.5,218.1,9,4.8