version: 66.12
glider: 130
mission: 32
dive: 21
start: 3 29 116 14 57 58
data:
$ID,130
$MISSION,32
$DIVE,21
$N_DIVES,25
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,120
$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,35
$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,24
$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
$GPS1,290316,145103,4743.0503,-12224.4170,8,1.9,29,18.2,0.5,218.1,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-59.5
$GPS2,290316,145700,4742.9741,-12224.4521,14,1.5,32,18.2,0.4,212.7,8,5.6
$SPEED_LIMITS,0.136,0.231
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.007411,0.230424
$KALMAN_X,-1232.579468,-276.580688,-262.641235,1730.196289,-19.136505
$KALMAN_Y,-6136.781250,-41.849060,-305.722107,6656.107422,-313.920563
$MHEAD_RNG_PITCHd_Wd,343.6,2826,-23.0,-11.429,-26.37,1574
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.60,-116.8,605,2175,572,422,0.0,0.0,0,64,0.00,0.00,-44.78,0.000,16386,0.000,0.000,605,2176,1885,1924,1846,0,0,0,0,0,0,24.75,28.83,24.77
$GC,68,-1.60,-116.8,605,2175,1925,1846,2.4,-5.0,6,85,9.85,0.00,-4.45,0.000,18694,0.164,0.000,2308,2175,2080,2137,2023,0,0,0,0,0,0,24.32,23.72,24.42
$GC,229,-1.60,-116.8,2307,2175,2140,2023,22.4,-12.3,32,238,0.00,2.53,0.00,0.000,260,0.000,0.054,2308,3577,2081,2140,2022,0,0,0,0,0,0,24.79,24.49,24.80
$GC,270,-1.60,-116.8,2308,3577,2140,2023,27.8,-12.4,38,279,0.00,2.47,0.00,0.000,1030,0.000,0.043,2308,2169,2081,2140,2023,0,0,0,0,0,0,24.57,24.53,24.60
$GC,421,-1.60,-116.8,2308,2169,2140,2023,44.8,-10.6,63,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2169,2081,2140,2022,0,0,0,0,0,0,24.82,24.84,24.83
$GC,566,-1.60,-116.8,2308,2169,2140,2023,64.4,-14.1,88,575,0.00,2.55,0.00,0.000,260,0.000,0.054,2308,3579,2081,2140,2023,0,0,0,0,0,0,24.84,24.53,24.85
$GC,659,-1.60,-116.8,2308,3578,2140,2023,75.4,-11.2,103,666,0.00,2.42,0.00,0.000,1030,0.000,0.041,2308,2165,2081,2140,2022,0,0,0,0,0,0,24.65,24.58,24.68
$GC,872,-1.60,-116.8,2308,2164,2140,2022,99.7,-11.6,140,881,0.00,2.53,0.00,0.000,516,0.000,0.060,2309,765,2081,2140,2023,0,0,0,0,0,0,24.87,24.57,24.89
$GC,963,-1.60,-116.8,2308,764,2140,2023,110.5,-12.6,155,970,0.00,2.40,0.00,0.000,1030,0.000,0.038,2308,2179,2081,2140,2023,0,0,0,0,0,0,24.69,24.63,24.71
$STATE,1045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1045,begin apogee
$GC,1051,-0.32,0.0,2308,2180,2140,2022,120.0,-11.4,169,1149,1.45,0.00,90.18,0.571,10246,0.122,0.000,2587,2180,1613,1684,1542,0,0,0,0,0,0,24.51,24.14,23.75
$STATE,1150,end apogee,CONTROL_FINISHED_OK
$STATE,1150,begin climb
$GC,1152,1.60,116.8,2587,2180,1684,1542,123.0,0.0,184,1254,2.00,2.58,89.93,0.559,10756,0.084,0.059,2998,774,1147,1226,1068,0,0,0,0,0,0,24.24,24.01,23.74
$GC,1313,1.60,116.8,2997,774,1223,1067,105.1,15.9,209,1320,0.00,2.40,0.00,0.000,1030,0.000,0.038,2997,2179,1144,1222,1067,0,0,0,0,0,0,24.47,24.41,24.49
$GC,1530,1.60,116.8,2997,2178,1222,1062,73.8,14.2,246,1538,0.00,2.58,0.00,0.000,516,0.000,0.061,2998,779,1141,1222,1061,0,0,0,0,0,0,24.74,24.44,24.75
$GC,1666,1.60,116.8,2997,779,1220,1061,52.8,14.7,269,1673,0.00,2.40,0.00,0.000,1030,0.000,0.039,2998,2186,1141,1221,1061,0,0,0,0,0,0,24.58,24.51,24.60
$GC,1885,1.60,116.8,2997,2186,1221,1060,22.5,13.8,306,1893,0.00,2.58,0.00,0.000,516,0.000,0.060,2998,774,1140,1221,1059,0,0,0,0,0,0,24.79,24.49,24.82
$GC,1994,1.60,116.8,2997,773,1220,1059,4.2,18.1,324,2003,0.00,2.45,0.00,0.000,1030,0.000,0.040,2998,2183,1139,1220,1059,0,0,0,0,0,0,24.60,24.56,24.62
$STATE,2009,end climb,SURFACE_DEPTH_REACHED
$STATE,2010,begin surface coast
$FINISH,0.1,1.012102
$STATE,2029,end surface coast,CONTROL_FINISHED_OK
$STATE,2029,begin surface
$SM_CCo,2049,105.60,0.484,0,0,499,279.59
$SM_CCo,2159,-0.03,0.000,0,0,500,279.59
$SM_CCo,2163,0.00,0.000,0,0,499,279.59
$SM_GC,1.11,10.70,0.00,0.00,0.041,0.000,0.000,606,2187,499,-9.42,0.48,279.59,0,0,0,0,0,0,24.53,24.83,24.47
$IRIDIUM_FIX,4722.92,-12222.38,290316,135821
$TT8_MAMPS,0.024717,0.219457
$HUMID,45.31
$INTERNAL_PRESSURE,8.98116
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,23.49,1.421
$10V_AH,10.31,1.217
$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,24.000,29.875,180.100,105.600,0.000,23.951,41.323,175.438,0.000,0.000,34.370,751.387,153.620,317.534,1195.994,114.861,33.459,667.488,0.000,944.851,0.000,0.535,0.000
$DEVICE_MAMPS,164.475,61.200,571.455,484.245,0.000,58.140,160.000,223.000,420.000,0.000,31.460,11.960,2.190,11.960,38.180,44.170,62.900,15.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,224.097,741.246,750.871,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,19.470,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312672
$DATA_FILE_SIZE,20396,329
$CAP_FILE_SIZE,41738,0
$CFSIZE,260165632,258011136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290316,153454,4743.049,-12224.461,12,1.1,12,18.2,0.6,195.0,8,8.6