version: 66.11
glider: 130
mission: 19
dive: 18
start: 12 19 113 11 18 22
data:
$ID,130
$MISSION,19
$DIVE,18
$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,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,90
$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,220
$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,-118572.53
$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,2993
$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,2
$ALTIM_SENSITIVITY,5
$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
$GPS1,191213,110733,4742.750,-12225.347,8,5.1,28,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-64.2
$GPS2,191213,111755,4742.629,-12225.407,12,1.1,12,18.2
$SPEED_LIMITS,0.114,0.200
$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,359.6,2472,-18.1,-8.000,-21.82,1655
$D_GRID,180
$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,-1.40,-88.0,646,1786,1203,1087,0.0,0.0,0,46,0.00,0.00,-27.48,0.000,16386,0.000,0.000,646,1786,1995,2034,1957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,49,-1.40,-88.0,646,1786,2034,1957,2.3,-4.5,5,80,11.90,2.55,-11.45,0.000,18948,0.169,0.078,2678,383,2408,2464,2353,0,0,0,0,0,0,24.34,24.45,24.79
$GC,214,-1.40,-88.0,2678,383,2464,2354,21.2,-14.3,36,220,0.00,2.45,0.00,0.000,1030,0.000,0.039,2678,1828,2408,2464,2353,0,0,0,0,0,0,28.83,24.60,28.83
$GC,283,-1.40,-88.0,2678,1828,2465,2354,29.9,-12.1,49,288,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1828,2409,2464,2354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,353,-1.40,-88.0,2678,1828,2464,2354,38.0,-11.4,62,359,0.00,2.60,0.00,0.000,516,0.000,0.066,2678,383,2409,2464,2354,0,0,0,0,0,0,28.83,24.54,28.83
$GC,462,-1.40,-88.0,2678,383,2464,2354,51.7,-11.6,83,468,0.00,2.45,0.00,0.000,1030,0.000,0.039,2678,1836,2408,2464,2353,0,0,0,0,0,0,28.83,24.64,28.83
$GC,591,-1.40,-88.0,2678,1836,2464,2354,64.3,-9.2,108,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1835,2409,2464,2354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,720,-1.40,-88.0,2678,1835,2464,2354,75.9,-9.6,133,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1835,2409,2464,2354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,848,-1.40,-88.0,2678,1835,2464,2354,90.2,-11.2,158,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1836,2409,2464,2354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,977,-1.40,-88.0,2678,1835,2464,2354,105.0,-12.3,183,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1835,2408,2464,2353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1110,-1.40,-88.0,1584,1834,2390,2342,120.5,-12.1,208,1117,0.00,2.62,0.00,0.000,516,0.000,0.066,2678,377,2409,2464,2354,0,0,0,0,0,0,28.83,24.61,28.83
$GC,1247,-1.40,-88.0,2678,377,2464,2354,139.3,-13.1,234,1254,0.00,2.45,0.00,0.000,1030,0.000,0.038,2678,1833,2408,2464,2353,0,0,0,0,0,0,28.83,24.72,28.83
$GC,1379,-1.40,-88.0,2678,1833,2464,2354,153.9,-11.0,259,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1833,2409,2464,2354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1510,-1.40,-88.0,1616,1831,2393,2342,169.4,-12.8,284,1517,0.00,2.42,0.00,0.000,260,0.000,0.050,2678,3229,2409,2464,2354,0,0,0,0,0,0,28.83,24.69,28.83
$STATE,1598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1598,begin apogee
$GC,1609,-0.36,0.0,2678,1741,2464,2354,180.1,-11.2,301,1685,1.17,0.00,67.38,0.487,10246,0.112,0.000,2909,1741,2049,2127,1972,0,0,0,0,0,0,24.60,28.83,23.84
$STATE,1686,end apogee,CONTROL_FINISHED_OK
$STATE,1686,begin climb
$GC,1689,1.40,88.0,2908,1741,2127,1971,184.0,0.0,315,1765,1.85,0.00,67.95,0.478,10246,0.083,0.000,3296,1742,1689,1772,1607,0,0,0,0,0,0,24.31,28.83,23.82
$GC,1889,1.41,100.1,3295,1742,1772,1603,172.2,7.3,353,1901,0.00,0.00,10.25,0.415,8198,0.000,0.000,3296,1742,1642,1728,1557,0,0,0,0,0,0,28.83,28.83,23.99
$GC,2027,1.41,100.1,3296,1742,1728,1555,161.0,9.3,379,2034,0.00,2.55,0.00,0.000,516,0.000,0.069,3296,337,1641,1728,1555,0,0,0,0,0,0,28.83,24.46,28.83
$GC,2052,1.42,105.2,3296,337,1728,1555,158.9,7.7,383,2065,0.00,2.45,5.78,0.357,9222,0.000,0.038,3296,1780,1620,1706,1534,0,0,0,0,0,0,28.83,24.56,24.07
$GC,2190,1.42,107.2,3296,1780,1706,1533,147.4,7.9,409,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1780,1619,1706,1533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2318,1.42,107.2,3296,1780,1706,1533,136.0,9.4,434,2325,0.00,2.62,0.00,0.000,516,0.000,0.070,3296,337,1619,1705,1533,0,0,0,0,0,0,28.83,24.51,28.83
$GC,2368,1.42,107.2,3296,337,1706,1533,130.6,11.5,443,2374,0.00,2.45,0.00,0.000,1030,0.000,0.038,3296,1781,1619,1706,1532,0,0,0,0,0,0,28.83,24.61,28.83
$GC,2499,1.42,107.2,3296,1780,1705,1532,118.1,8.7,468,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1780,1618,1705,1532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2627,1.42,107.2,3296,1780,1706,1531,105.1,10.4,493,2634,0.00,2.65,0.00,0.000,516,0.000,0.068,3296,330,1619,1706,1532,0,0,0,0,0,0,28.83,24.55,28.83
$GC,2707,1.42,107.2,3296,330,1705,1532,96.6,11.1,508,2713,0.00,2.45,0.00,0.000,1030,0.000,0.038,3296,1781,1618,1706,1531,0,0,0,0,0,0,28.83,24.65,28.83
$GC,2836,1.42,107.2,3296,1781,1706,1531,84.1,9.4,533,2843,0.00,2.62,0.00,0.000,516,0.000,0.069,3296,337,1618,1706,1531,0,0,0,0,0,0,28.83,24.57,28.83
$GC,2911,1.42,107.2,3296,336,1706,1531,76.5,11.2,547,2917,0.00,2.45,0.00,0.000,1030,0.000,0.038,3296,1784,1618,1706,1531,0,0,0,0,0,0,28.83,24.67,28.83
$GC,3042,1.42,107.2,3296,1784,1706,1531,64.4,9.0,572,3048,0.00,2.40,0.00,0.000,260,0.000,0.049,3296,3181,1618,1706,1531,0,0,0,0,0,0,28.83,24.64,28.83
$GC,3086,1.42,107.2,2304,3179,1661,1525,60.2,8.5,580,3092,0.00,2.53,0.00,0.000,1030,0.000,0.050,3296,1734,1617,1705,1530,0,0,0,0,0,0,28.83,24.65,28.83
$GC,3217,1.43,111.5,3296,1734,1706,1530,49.6,7.7,605,3230,0.00,2.55,5.88,0.323,8708,0.000,0.070,3296,337,1595,1684,1507,0,0,0,0,0,0,28.83,24.53,24.24
$GC,3293,1.43,111.5,3296,337,1684,1507,42.5,9.1,619,3299,0.00,2.45,0.00,0.000,1030,0.000,0.038,3296,1787,1595,1684,1507,0,0,0,0,0,0,28.83,24.68,28.83
$GC,3362,1.44,122.6,3296,1787,1684,1507,37.3,7.3,632,3380,0.00,2.67,10.20,0.356,8708,0.000,0.070,3296,334,1549,1638,1461,0,0,0,0,0,0,28.83,24.46,24.18
$GC,3443,1.44,122.6,3296,334,1638,1461,30.3,9.8,647,3450,0.00,2.45,0.00,0.000,1030,0.000,0.038,3296,1786,1549,1638,1461,0,0,0,0,0,0,28.83,24.64,28.83
$GC,3513,1.44,122.6,3296,1786,1638,1460,24.5,8.2,660,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1786,1549,1638,1461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3582,1.46,138.9,3296,1786,1638,1460,19.3,7.0,673,3605,0.00,2.72,14.12,0.360,8708,0.000,0.070,3296,337,1482,1572,1392,0,0,0,0,0,0,28.83,24.43,24.15
$GC,3638,1.46,138.9,3296,337,1572,1392,14.2,10.4,683,3644,0.00,2.45,0.00,0.000,1030,0.000,0.038,3296,1780,1482,1572,1392,0,0,0,0,0,0,28.83,24.59,28.83
$GC,3707,1.46,138.9,3296,1780,1573,1392,7.4,8.7,696,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1780,1482,1572,1392,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3753,end climb,SURFACE_DEPTH_REACHED
$STATE,3753,begin surface coast
$FINISH,0.6,1.020354
$STATE,3780,end surface coast,CONTROL_FINISHED_OK
$STATE,3780,begin surface
$SM_CCo,3802,49.70,0.256,1,0,1152,220.03
$SM_GC,1.76,11.75,0.05,49.70,0.038,0.149,0.256,648,1821,1152,-10.73,-0.48,220.03,0,0,0,0,1,0,24.65,24.75,24.01
$IRIDIUM_FIX,4732.49,-12232.94,191213,090932
$TT8_MAMPS,0.024717,0.024717
$HUMID,32.98
$INTERNAL_PRESSURE,8.96672
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,23.8,1.158
$10V_AH,10.3,0.999
$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,26.675,60.725,181.550,49.700,0.000,46.491,77.152,314.461,4.250,0.000,15.080,1588.951,859.964,367.816,1485.444,180.100,0.000,941.523,0.000,1027.411,0.000,29.439,0.000
$DEVICE_MAMPS,169.065,149.175,486.540,255.510,0.000,57.370,160.000,223.000,420.000,0.000,29.210,11.220,2.190,11.220,36.680,42.670,0.000,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,506.921,325.736,542.318,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,5.990,68.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,33533,710
$CAP_FILE_SIZE,81262,0
$CFSIZE,260165632,257814528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,191213,122335,4742.550,-12225.621,14,1.2,24,18.2