version: 66.08
glider: 130
mission: 14
dive: 3
start: 12 15 111 22 4 57
data:
$ID,130
$MISSION,14
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,3
$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,75
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,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,1.0233001
$MASS,51798
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-106572.41
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,650
$PITCH_MAX,3725
$C_PITCH,2940
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,240
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,30
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,516
$VBD_MAX,3960
$C_VBD,2595
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,92
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-9.7200212
$PRESSURE_SLOPE,0.0001159091
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044026845
$SEABIRD_T_H,0.00064110267
$SEABIRD_T_I,2.6319482e-05
$SEABIRD_T_J,2.9463893e-06
$SEABIRD_C_G,-9.7963085
$SEABIRD_C_H,1.1040274
$SEABIRD_C_I,-0.0013956937
$SEABIRD_C_J,0.00019230587
$GPS1,151211,215919,4743.458,-12224.317,5,1.8,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-64.1
$GPS2,151211,220358,4743.483,-12224.271,12,2.2,31,18.2
$SPEED_LIMITS,0.095,0.218
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.213,0.048
$KALMAN_X,345.8,354.7,333.0,-554.8,469.2
$KALMAN_Y,237.9,244.4,228.6,290.4,325.2
$MHEAD_RNG_PITCHd_Wd,281.5,1015,-16.0,-8.000
$D_GRID,174
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.38,-117.3,0.0,0.0,0,92,0.00,0.00,-72.03,0.000,2,0.000,0.000,649,2169,2936,0,0,0,0,0,0
$GC,95,-1.38,-117.3,2.3,-3.0,8,116,10.88,2.62,-3.50,0.000,4,0.145,0.073,2632,732,3075,0,0,0,0,0,0
$GC,420,-1.31,-117.3,41.8,-11.9,55,431,0.05,2.45,0.00,0.000,6,0.116,0.043,2645,2147,3076,0,0,0,0,0,0
$GC,512,-1.27,-117.3,52.0,-10.9,68,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2146,3076,0,0,0,0,0,0
$GC,666,-1.23,-117.3,68.1,-10.4,93,675,0.12,2.53,0.00,0.000,4,0.117,0.061,2668,735,3076,0,0,0,0,0,0
$GC,779,-1.20,-117.3,79.8,-10.6,111,786,0.00,2.42,0.00,0.000,6,0.000,0.041,2668,2156,3076,0,0,0,0,0,0
$GC,928,-1.20,-117.3,94.6,-9.2,136,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2158,3076,0,0,0,0,0,0
$GC,1083,-1.20,-117.3,108.1,-8.2,161,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2159,3076,0,0,0,0,0,0
$GC,1237,-1.20,-117.3,121.6,-8.8,186,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2160,3076,0,0,0,0,0,0
$GC,1396,-1.20,-117.3,134.3,-7.7,211,1403,0.00,2.50,0.00,0.000,4,0.000,0.061,2668,739,3076,0,0,0,0,0,0
$GC,1544,-1.16,-117.3,148.0,-9.4,235,1552,0.00,2.42,0.00,0.000,6,0.000,0.041,2668,2151,3076,0,0,0,0,0,0
$GC,1695,-1.16,-117.3,161.4,-8.9,260,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2152,3076,0,0,0,0,0,0
$STATE,1838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1838,begin apogee
$GC,1844,-0.38,0.0,174.3,9.2,284,1945,0.85,0.00,96.38,0.611,6,0.084,0.000,2848,2057,2595,0,0,0,0,0,0
$STATE,1946,end apogee,CONTROL_FINISHED_OK
$STATE,1946,begin climb
$GC,1949,1.38,117.3,177.9,0.0,297,2062,1.83,2.60,100.03,0.589,4,0.070,0.054,3235,3480,2114,0,0,0,0,0,0
$GC,2147,1.32,117.3,160.7,12.0,326,2156,0.00,2.47,0.00,0.000,6,0.000,0.047,3235,2092,2109,0,0,0,0,0,0
$GC,2306,1.28,117.3,143.3,11.4,351,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2091,2108,0,0,0,0,0,0
$GC,2455,1.23,117.3,125.0,11.6,376,2464,0.12,0.00,0.00,0.000,6,0.118,0.000,3212,2091,2106,0,0,0,0,0,0
$GC,2609,1.20,117.3,108.0,10.9,401,2618,0.00,2.55,0.00,0.000,4,0.000,0.063,3212,658,2105,0,0,0,0,0,0
$GC,2691,1.16,117.3,98.3,11.6,414,2700,0.00,2.45,0.00,0.000,6,0.000,0.040,3212,2075,2104,0,0,0,0,0,0
$GC,2847,1.13,117.3,83.9,8.9,439,2854,0.12,0.00,0.00,0.000,6,0.115,0.000,3189,2078,2104,0,0,0,0,0,0
$GC,2996,1.13,117.3,70.7,8.1,464,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2078,2103,0,0,0,0,0,0
$GC,3152,1.14,121.5,58.9,7.8,489,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2078,2104,0,0,0,0,0,0
$GC,3311,1.14,121.5,44.6,8.2,514,3321,0.00,2.55,0.00,0.000,4,0.000,0.063,3189,668,2103,0,0,0,0,0,0
$GC,3416,1.14,121.5,35.5,8.3,529,3427,0.00,2.42,0.00,0.000,6,0.000,0.041,3189,2071,2103,0,0,0,0,0,0
$GC,3509,1.17,145.5,29.1,6.9,542,3535,0.00,0.00,23.98,0.518,6,0.000,0.000,3189,2072,2000,0,0,0,0,0,0
$GC,3619,1.18,153.3,21.4,7.6,557,3629,0.00,0.00,7.97,0.464,6,0.000,0.000,3189,2073,1969,0,0,0,0,0,0
$GC,3713,1.18,153.3,13.8,8.6,570,3722,0.00,2.55,0.00,0.000,4,0.000,0.065,3188,669,1966,0,0,0,0,0,0
$GC,3778,1.18,153.3,7.5,9.8,579,3787,0.00,2.42,0.00,0.000,6,0.000,0.041,3188,2069,1966,0,0,0,0,0,0
$STATE,3828,end climb,SURFACE_DEPTH_REACHED
$STATE,3828,begin surface coast
$FINISH,-0.1,1.010413
$STATE,3870,end surface coast,CONTROL_FINISHED_OK
$STATE,3870,begin surface
$SM_CCo,3891,106.72,0.058,0,0,1168,350.04
$SM_GC,0.83,0.00,0.00,106.72,0.000,0.000,0.058,646,2156,1168,-10.55,0.17,350.04
$IRIDIUM_FIX,4726.11,-12204.73,151211,212125
$TT8_MAMPS,0.024717
$HUMID,32.12
$INTERNAL_PRESSURE,9.29601
$TCM_TEMP,13.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.1,63.4
$24V_AH,23.8,0.265
$10V_AH,10.4,0.264
$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,25.250,35.250,228.350,106.725,0.000,0.000,0.000,0.000,1.750,0.000,34.440,1410.134,231.539,402.224,1669.241,385.991,31.408,989.589,0.000,1883.256,0.000,13.441,0.000
$DEVICE_MAMPS,144.585,83.385,611.235,58.140,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,477.923,263.578,1282.543,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323640
$DATA_FILE_SIZE,33581,592
$CAP_FILE_SIZE,76198,0
$CFSIZE,260165632,25075712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022,210.4,1
$GPS,151211,231251,4743.615,-12224.851,13,3.3,32,18.2