version: 66.11
glider: 130
mission: 19
dive: 11
start: 12 19 113 3 26 16
data:
$ID,130
$MISSION,19
$DIVE,11
$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,75
$T_MISSION,80
$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,-118563.63
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,191213,031605,4743.169,-12224.991,21,1.0,36,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-63.5
$GPS2,191213,032548,4743.194,-12225.021,14,1.0,32,18.2
$SPEED_LIMITS,0.114,0.249
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-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,145.1,956,-13.5,-8.000,-17.81,2730
$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,-1.14,-146.6,647,1781,1285,1173,0.0,0.0,0,46,0.00,0.00,-27.40,0.000,16386,0.000,0.000,647,1781,2062,2102,2023,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49,-1.14,-146.6,647,1781,2102,2024,2.2,-4.9,5,84,12.00,2.58,-15.40,0.000,19204,0.162,0.082,2738,379,2648,2701,2596,0,0,0,0,0,0,24.41,24.48,24.84
$GC,313,-1.14,-146.6,2737,379,2701,2596,27.4,-10.2,56,319,0.00,2.47,0.00,0.000,1030,0.000,0.041,2738,1839,2648,2701,2595,0,0,0,0,0,0,28.83,24.65,28.83
$GC,384,-1.14,-146.6,2738,1842,2701,2596,34.1,-9.9,69,390,0.00,2.65,0.00,0.000,516,0.000,0.070,2738,382,2648,2701,2596,0,0,0,0,0,0,28.83,24.57,28.83
$GC,468,-1.14,-146.6,2737,383,2701,2596,43.9,-11.2,85,474,0.00,2.45,0.00,0.000,1030,0.000,0.041,2738,1831,2648,2700,2596,0,0,0,0,0,0,28.83,24.67,28.83
$GC,537,-1.14,-146.6,2738,1831,2701,2596,51.2,-9.8,98,544,0.00,2.62,0.00,0.000,516,0.000,0.070,2738,382,2648,2701,2596,0,0,0,0,0,0,28.83,24.58,28.83
$GC,572,-1.14,-146.6,2738,382,2701,2596,54.7,-10.4,104,578,0.00,2.45,0.00,0.000,1030,0.000,0.041,2738,1830,2648,2701,2596,0,0,0,0,0,0,28.83,24.67,28.83
$GC,701,-1.14,-146.6,2737,1833,2701,2596,67.0,-8.8,129,707,0.00,2.40,0.00,0.000,260,0.000,0.050,2738,3230,2648,2701,2596,0,0,0,0,0,0,28.83,24.66,28.83
$GC,755,-1.14,-146.6,2737,3229,2701,2596,72.0,-8.2,139,762,0.00,2.50,0.00,0.000,1030,0.000,0.047,2738,1791,2648,2701,2596,0,0,0,0,0,0,28.83,24.65,28.83
$GC,885,-1.14,-146.6,2737,1790,2701,2596,83.4,-8.9,164,891,0.00,2.47,0.00,0.000,260,0.000,0.049,2737,3225,2648,2701,2596,0,0,0,0,0,0,28.83,24.68,28.83
$GC,909,-1.14,-146.6,1704,3224,2640,2585,85.5,-9.1,168,915,0.00,2.50,0.00,0.000,1030,0.000,0.048,2738,1787,2648,2701,2596,0,0,0,0,0,0,28.83,24.67,28.83
$GC,1038,-1.14,-146.6,2737,1787,2701,2596,97.3,-8.8,193,1044,0.00,2.53,0.00,0.000,516,0.000,0.071,2737,385,2648,2701,2596,0,0,0,0,0,0,28.83,24.63,28.83
$STATE,1069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1069,begin apogee
$GC,1078,-0.36,0.0,2737,1782,2701,2595,100.1,-9.6,198,1193,0.88,0.08,109.38,0.438,10246,0.107,0.135,2913,1738,2049,2128,1970,0,0,0,0,0,0,24.60,24.20,23.90
$STATE,1196,end apogee,CONTROL_FINISHED_OK
$STATE,1196,begin climb
$GC,1199,1.14,146.6,2913,1738,2128,1970,104.8,0.0,219,1319,1.58,2.70,110.95,0.428,11012,0.083,0.071,3244,330,1451,1542,1361,0,0,0,0,0,0,24.30,24.18,23.87
$GC,1344,1.14,146.6,3244,330,1541,1361,97.0,9.1,245,1350,0.00,2.47,0.00,0.000,1030,0.000,0.040,3244,1779,1451,1542,1361,0,0,0,0,0,0,28.83,24.42,28.83
$GC,1475,1.14,146.6,3244,1779,1541,1357,85.5,8.3,270,1481,0.00,2.65,0.00,0.000,516,0.000,0.072,3245,337,1449,1541,1357,0,0,0,0,0,0,28.83,24.44,28.83
$GC,1499,1.14,146.6,2208,337,1505,1353,83.1,9.4,274,1505,0.00,2.45,0.00,0.000,1030,0.000,0.040,3245,1778,1449,1541,1357,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1630,1.14,146.6,3244,1778,1541,1355,71.6,8.9,299,1636,0.00,2.42,0.00,0.000,260,0.000,0.050,3245,3181,1448,1541,1355,0,0,0,0,0,0,28.83,24.54,28.83
$GC,1684,1.14,146.6,2208,3179,1504,1350,67.0,8.2,309,1690,0.00,2.53,0.00,0.000,1030,0.000,0.051,3245,1742,1447,1541,1354,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1815,1.14,146.6,3244,1742,1540,1354,55.5,9.1,334,1822,0.00,2.50,0.00,0.000,260,0.000,0.049,3245,3175,1447,1541,1354,0,0,0,0,0,0,28.83,24.57,28.83
$GC,1854,1.14,146.6,3244,3175,1541,1354,51.9,8.7,341,1861,0.00,2.53,0.00,0.000,1030,0.000,0.051,3245,1736,1446,1540,1353,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1986,1.14,146.6,3244,1736,1541,1353,41.1,8.4,366,1992,0.00,2.55,0.00,0.000,516,0.000,0.073,3245,338,1447,1541,1353,0,0,0,0,0,0,28.83,24.53,28.83
$GC,2065,1.14,146.6,3244,338,1540,1353,33.7,9.6,381,2072,0.00,2.45,0.00,0.000,1030,0.000,0.041,3245,1781,1447,1541,1353,0,0,0,0,0,0,28.83,24.65,28.83
$GC,2135,1.14,146.6,3244,1781,1541,1353,28.0,8.1,394,2141,0.00,2.65,0.00,0.000,516,0.000,0.072,3245,331,1447,1541,1353,0,0,0,0,0,0,28.83,24.54,28.83
$GC,2159,1.14,146.6,3244,331,1540,1354,25.8,9.2,398,2165,0.00,2.45,0.00,0.000,1030,0.000,0.040,3245,1779,1447,1541,1353,0,0,0,0,0,0,28.83,24.65,28.83
$GC,2228,1.14,146.6,3245,1779,1541,1353,20.0,8.5,411,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1779,1447,1541,1353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2297,1.14,146.6,3244,1779,1540,1353,14.3,8.0,424,2303,0.00,2.62,0.00,0.000,516,0.000,0.072,3245,337,1447,1541,1353,0,0,0,0,0,0,28.83,24.56,28.83
$STATE,2418,end climb,SURFACE_DEPTH_REACHED
$STATE,2418,begin surface coast
$FINISH,0.4,1.015250
$STATE,2446,end surface coast,CONTROL_FINISHED_OK
$STATE,2446,begin surface
$SM_CCo,2470,31.88,0.054,0,0,1234,200.16
$SM_GC,1.46,11.55,2.60,31.88,0.040,0.040,0.054,649,1831,1234,-10.75,-0.23,200.16,0,0,0,0,0,0,24.65,24.70,24.60
$IRIDIUM_FIX,4719.74,-12238.55,191213,020230
$TT8_MAMPS,0.024717,0.024717
$HUMID,32.67
$INTERNAL_PRESSURE,8.97648
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.1,10.0
$24V_AH,23.9,0.763
$10V_AH,10.4,0.687
$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,26.000,65.775,220.325,31.875,0.000,31.181,50.333,368.213,0.500,0.000,34.757,990.404,478.477,343.861,1121.700,159.721,0.000,746.648,0.000,659.631,0.000,5.744,0.000
$DEVICE_MAMPS,162.180,135.405,437.580,54.315,0.000,57.370,160.000,223.000,420.000,0.000,29.210,11.220,2.190,11.220,36.680,42.670,0.000,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,322.845,237.924,398.178,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,5.990,68.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354088
$DATA_FILE_SIZE,20207,453
$CAP_FILE_SIZE,59702,0
$CFSIZE,260165632,258121728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191213,040902,4743.160,-12224.784,12,3.1,32,18.2