version: 66.11
glider: 130
mission: 19
dive: 5
start: 12 18 113 22 46 29
data:
$ID,130
$MISSION,19
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,4
$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,60
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51967
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0028580001
$HD_B,0.0089408001
$HD_C,1.6100001e-05
$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,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-118556.09
$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,2998
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,240
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2050
$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
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,-9.3370571
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.89999998
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004404821
$SEABIRD_T_H,0.00064488029
$SEABIRD_T_I,2.8507879e-05
$SEABIRD_T_J,3.3644449e-06
$SEABIRD_C_G,-9.8029137
$SEABIRD_C_H,1.1050078
$SEABIRD_C_I,-0.0015785076
$SEABIRD_C_J,0.00020331096
$GPS1,181213,224137,4742.510,-12225.056,13,1.7,13,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-63.8
$GPS2,181213,224601,4742.480,-12225.089,11,1.5,11,18.2
$SPEED_LIMITS,0.143,0.271
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,349.6,2653,-16.8,-10.000,-20.27,2205
$D_GRID,100
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-146.6,645,1826,1286,1172,0.0,0.0,0,51,0.00,0.00,-32.88,0.000,16386,0.000,0.000,645,1826,2209,2241,2178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-1.38,-146.6,645,1826,2242,2178,2.4,-5.4,6,84,11.43,0.00,-10.90,0.000,18950,0.151,0.000,2691,1827,2648,2698,2598,0,0,0,0,0,0,24.46,28.83,24.93
$GC,147,-1.38,-146.6,2690,1827,2699,2599,12.9,-12.9,23,152,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1826,2649,2699,2599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,215,-1.38,-146.6,2690,1827,2699,2599,22.1,-13.9,36,221,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1826,2648,2698,2599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,285,-1.38,-146.6,2690,1826,2698,2599,30.9,-12.5,49,290,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1827,2649,2699,2599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,353,-1.38,-146.6,2690,1827,2699,2598,38.7,-11.0,62,360,0.00,2.62,0.00,0.000,516,0.000,0.070,2690,379,2649,2699,2599,0,0,0,0,0,0,28.83,24.62,28.83
$GC,393,-1.38,-146.6,2690,379,2699,2599,44.0,-13.7,69,399,0.00,2.47,0.00,0.000,1030,0.000,0.043,2691,1838,2649,2699,2599,0,0,0,0,0,0,28.83,24.70,28.83
$GC,462,-1.38,-146.6,2690,1838,2699,2599,52.2,-11.7,82,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1838,2649,2699,2599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,590,-1.38,-146.6,2690,1838,2700,2599,67.9,-12.2,107,597,0.00,2.62,0.00,0.000,516,0.000,0.070,2690,384,2649,2699,2599,0,0,0,0,0,0,28.83,24.65,28.83
$GC,635,-1.38,-146.6,2690,384,2699,2599,73.8,-13.3,115,641,0.00,2.45,0.00,0.000,1030,0.000,0.043,2691,1827,2649,2699,2599,0,0,0,0,0,0,28.83,24.72,28.83
$GC,764,-1.38,-146.6,1664,1825,2636,2588,89.1,-10.7,140,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1827,2649,2699,2599,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,777,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,777,begin apogee
$GC,783,-0.36,0.0,2690,1730,2699,2599,90.5,-10.7,142,903,1.10,0.03,109.60,0.431,10246,0.103,0.109,2912,1757,2048,2125,1971,0,0,0,0,0,0,24.63,24.19,23.94
$STATE,905,end apogee,CONTROL_FINISHED_OK
$STATE,906,begin climb
$GC,908,1.38,146.6,2912,1757,2125,1971,94.0,0.0,164,1027,1.80,0.00,110.55,0.421,10758,0.080,0.000,3295,1757,1451,1540,1363,0,0,0,0,0,0,24.36,28.83,23.91
$GC,1151,1.38,146.6,3295,1757,1540,1359,71.2,11.2,210,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1757,1449,1540,1359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1280,1.38,147.2,3295,1757,1540,1358,57.5,10.0,235,1286,0.00,2.62,0.00,0.000,516,0.000,0.072,3295,331,1449,1540,1358,0,0,0,0,0,0,28.83,24.50,28.83
$GC,1334,1.38,147.2,3295,331,1540,1357,51.2,12.3,245,1340,0.00,2.47,0.00,0.000,1030,0.000,0.042,3295,1780,1448,1540,1357,0,0,0,0,0,0,28.83,24.59,28.83
$GC,1465,1.38,147.2,3294,1780,1539,1357,36.9,11.9,270,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1780,1448,1540,1357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1533,1.38,147.2,2304,1778,1502,1353,29.2,10.9,283,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1780,1448,1540,1357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1602,1.38,147.2,3295,1780,1539,1357,21.5,11.2,296,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1780,1448,1540,1357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1670,1.38,147.2,3295,1780,1540,1357,14.2,10.7,309,1677,0.00,2.42,0.00,0.000,260,0.000,0.053,3295,3179,1448,1540,1356,0,0,0,0,0,0,28.83,24.61,28.83
$GC,1714,1.38,147.2,2304,3178,1502,1352,9.5,10.4,317,1721,0.00,2.53,0.00,0.000,1030,0.000,0.054,3295,1744,1448,1540,1356,0,0,0,0,0,0,28.83,24.63,28.83
$STATE,1771,end climb,SURFACE_DEPTH_REACHED
$STATE,1771,begin surface coast
$FINISH,0.3,1.023045
$STATE,1797,end surface coast,CONTROL_FINISHED_OK
$STATE,1797,begin surface
$SM_CCo,1819,30.38,0.054,0,0,1234,200.16
$SM_GC,1.03,11.65,0.12,30.38,0.034,0.086,0.054,645,1816,1234,-10.76,-0.48,200.16,0,0,0,0,0,0,24.68,24.71,24.61
$IRIDIUM_FIX,4722.92,-12228.76,181213,222253
$TT8_MAMPS,0.026215,0.026215
$HUMID,32.83
$INTERNAL_PRESSURE,8.98625
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.5,5.7
$24V_AH,23.9,0.439
$10V_AH,10.4,0.496
$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,25.975,20.625,220.150,30.375,0.000,0.000,0.000,0.000,0.500,0.000,13.289,706.063,327.607,317.112,498.753,66.450,0.000,627.779,0.000,488.245,0.000,5.427,0.000
$DEVICE_MAMPS,151.470,123.165,430.695,53.550,0.000,0.000,0.000,0.000,420.000,0.000,29.210,11.220,2.190,11.220,36.680,42.670,0.000,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,238.350,179.279,301.519,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,5.990,68.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353968
$DATA_FILE_SIZE,13639,333
$CAP_FILE_SIZE,57052,0
$CFSIZE,260165632,258310144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181213,231821,4742.598,-12225.146,10,7.2,30,18.2