version: 66.11
glider: 130
mission: 19
dive: 20
start: 12 19 113 13 50 19
data:
$ID,130
$MISSION,19
$DIVE,20
$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,-118575.05
$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
$GPS1,191213,133845,4742.446,-12225.795,11,2.7,31,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-66.3
$GPS2,191213,134951,4742.357,-12225.831,13,3.4,33,18.2
$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,6.0,3133,-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,-88.0,646,1777,1204,1087,0.0,0.0,0,45,0.00,0.00,-26.98,0.000,16386,0.000,0.000,646,1777,1973,2013,1934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-1.40,-88.0,646,1777,2014,1934,2.2,-3.1,5,79,11.82,2.62,-12.00,0.000,18948,0.167,0.080,2676,382,2409,2465,2354,0,0,0,0,0,0,24.35,24.44,24.79
$GC,268,-1.40,-88.0,2676,382,2465,2354,30.6,-15.7,47,274,0.00,2.47,0.00,0.000,1030,0.000,0.039,2676,1841,2409,2465,2354,0,0,0,0,0,0,28.83,24.62,28.83
$GC,337,-1.40,-88.0,2676,1841,2465,2354,40.2,-13.6,60,343,0.00,2.38,0.00,0.000,260,0.000,0.047,2676,3225,2409,2464,2354,0,0,0,0,0,0,28.83,24.59,28.83
$GC,381,-1.40,-88.0,1648,3224,2398,2343,46.2,-13.2,68,387,0.00,2.50,0.00,0.000,1030,0.000,0.047,2676,1790,2409,2465,2354,0,0,0,0,0,0,28.83,24.59,28.83
$GC,450,-1.40,-88.0,2676,1790,2465,2354,55.4,-13.0,81,457,0.00,2.53,0.00,0.000,516,0.000,0.068,2676,384,2409,2465,2354,0,0,0,0,0,0,28.83,24.55,28.83
$GC,540,-1.40,-88.0,2676,383,2465,2354,68.6,-14.1,98,546,0.00,2.45,0.00,0.000,1030,0.000,0.038,2668,1834,2409,2465,2354,0,0,0,0,0,0,28.83,24.65,28.83
$GC,669,-1.40,-88.0,2676,1835,2465,2354,84.0,-10.7,123,675,0.00,2.40,0.00,0.000,260,0.000,0.047,2676,3233,2409,2465,2354,0,0,0,0,0,0,28.83,24.63,28.83
$GC,738,-1.40,-88.0,2676,3233,2465,2354,91.6,-11.2,136,745,0.00,2.53,0.00,0.000,1030,0.000,0.047,2676,1783,2409,2465,2354,0,0,0,0,0,0,28.83,24.63,28.83
$GC,870,-1.40,-88.0,2676,1783,2465,2354,103.6,-9.1,161,876,0.00,2.53,0.00,0.000,516,0.000,0.067,2676,378,2409,2465,2354,0,0,0,0,0,0,28.83,24.59,28.83
$GC,1031,-1.40,-88.0,2676,377,2465,2354,123.0,-12.4,192,1038,0.00,2.45,0.00,0.000,1030,0.000,0.038,2676,1834,2409,2465,2354,0,0,0,0,0,0,28.83,24.70,28.83
$GC,1163,-1.40,-88.0,2676,1836,2465,2354,137.5,-10.2,217,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1836,2409,2465,2354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1294,-1.40,-88.0,2676,1836,2465,2354,151.2,-11.2,242,1300,0.00,2.60,0.00,0.000,516,0.000,0.067,2676,383,2409,2465,2354,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1393,-1.40,-88.0,2676,384,2465,2354,162.4,-11.0,261,1400,0.00,2.45,0.00,0.000,1030,0.000,0.039,2676,1842,2409,2465,2354,0,0,0,0,0,0,28.83,24.72,28.83
$GC,1526,-1.40,-88.0,2676,1843,2465,2354,175.1,-10.7,286,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1842,2409,2465,2354,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1567,begin apogee
$GC,1574,-0.36,0.0,2676,1731,2465,2354,180.0,-10.7,294,1651,1.17,0.03,67.75,0.485,10246,0.115,0.110,2906,1759,2048,2126,1971,0,0,0,0,0,0,24.60,24.10,23.84
$STATE,1652,end apogee,CONTROL_FINISHED_OK
$STATE,1652,begin climb
$GC,1654,1.40,88.0,2906,1759,2126,1971,183.3,0.0,308,1731,1.85,0.00,67.72,0.478,10246,0.085,0.000,3293,1759,1690,1773,1607,0,0,0,0,0,0,24.29,28.83,23.82
$GC,1854,1.40,88.0,3294,1759,1773,1603,170.0,8.9,346,1860,0.00,2.60,0.00,0.000,516,0.000,0.069,3294,337,1688,1773,1603,0,0,0,0,0,0,28.83,24.42,28.83
$GC,1938,1.40,88.0,3293,337,1773,1603,162.2,10.3,362,1945,0.00,2.45,0.00,0.000,1030,0.000,0.038,3294,1780,1688,1773,1603,0,0,0,0,0,0,28.83,24.55,28.83
$GC,2070,1.41,94.8,3294,1780,1773,1602,152.0,7.6,387,2081,0.00,0.00,6.30,0.367,8198,0.000,0.000,3294,1780,1663,1750,1577,0,0,0,0,0,0,28.83,28.83,24.10
$GC,2207,1.49,165.2,2240,1779,1698,1571,145.2,3.6,413,2274,0.10,2.75,55.62,0.454,10756,0.076,0.068,3324,336,1375,1464,1286,0,0,0,0,0,0,24.67,24.18,23.85
$GC,2348,1.49,165.2,3324,336,1465,1286,131.6,12.6,439,2354,0.00,2.45,0.00,0.000,1030,0.000,0.038,3324,1778,1375,1465,1285,0,0,0,0,0,0,28.83,24.51,28.83
$GC,2477,1.49,165.2,3324,1780,1464,1282,116.5,11.2,464,2484,0.00,2.65,0.00,0.000,516,0.000,0.070,3324,333,1373,1464,1282,0,0,0,0,0,0,28.83,24.47,28.83
$GC,2552,1.49,165.2,3323,333,1464,1282,106.3,13.2,478,2558,0.00,2.45,0.00,0.000,1030,0.000,0.038,3324,1780,1373,1465,1282,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2681,1.49,165.2,3324,1780,1465,1281,92.0,9.2,503,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1780,1372,1464,1281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2810,1.49,165.2,3324,1781,1465,1281,77.7,10.9,528,2816,0.00,2.62,0.00,0.000,516,0.000,0.069,3324,337,1373,1465,1281,0,0,0,0,0,0,28.83,24.53,28.83
$GC,2864,1.49,165.2,3324,337,1465,1281,70.7,13.5,538,2871,0.00,2.45,0.00,0.000,1030,0.000,0.038,3324,1778,1372,1464,1281,0,0,0,0,0,0,28.83,24.62,28.83
$GC,2993,1.49,165.2,3324,1782,1465,1280,55.5,11.5,563,3000,0.00,2.62,0.00,0.000,516,0.000,0.069,3324,337,1372,1465,1280,0,0,0,0,0,0,28.83,24.54,28.83
$GC,3078,1.49,165.2,2320,337,1432,1277,44.1,14.3,579,3084,0.00,2.45,0.00,0.000,1030,0.000,0.038,3324,1783,1372,1465,1280,0,0,0,0,0,0,28.83,24.65,28.83
$GC,3149,1.49,165.2,3324,1783,1465,1280,36.0,11.0,592,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1783,1372,1465,1280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3217,1.49,165.2,3324,1783,1465,1280,27.4,13.1,605,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1783,1372,1465,1280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3286,1.49,165.2,3324,1783,1464,1280,17.9,14.4,618,3292,0.00,2.62,0.00,0.000,516,0.000,0.070,3324,337,1372,1464,1280,0,0,0,0,0,0,28.83,24.57,28.83
$GC,3315,1.49,165.2,3324,337,1465,1280,13.4,15.9,623,3322,0.00,2.45,0.00,0.000,1030,0.000,0.038,3324,1781,1372,1465,1280,0,0,0,0,0,0,28.83,24.65,28.83
$GC,3385,1.49,165.2,3324,1784,1465,1280,3.3,13.8,636,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1784,1372,1465,1280,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3395,end climb,SURFACE_DEPTH_REACHED
$STATE,3395,begin surface coast
$FINISH,0.5,1.012401
$STATE,3418,end surface coast,CONTROL_FINISHED_OK
$STATE,3418,begin surface
$SM_CCo,3440,31.95,0.054,0,0,1153,220.03
$SM_GC,1.53,11.85,0.00,31.95,0.037,0.000,0.054,645,1784,1153,-10.74,-0.45,220.03,0,0,0,0,0,0,24.67,28.83,24.59
$IRIDIUM_FIX,4729.30,-12222.38,191213,131339
$TT8_MAMPS,0.025466,0.025466
$HUMID,33.10
$INTERNAL_PRESSURE,8.96672
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,23.8,1.261
$10V_AH,10.3,1.092
$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,26.800,60.800,197.400,31.950,0.000,53.155,105.846,302.560,4.250,0.000,35.962,1427.314,768.321,346.344,1432.892,167.070,0.000,874.693,0.000,927.532,0.000,27.645,0.000
$DEVICE_MAMPS,166.770,110.160,485.010,53.550,0.000,57.370,160.000,223.000,420.000,0.000,29.210,11.220,2.190,11.220,36.680,42.670,0.000,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,457.225,286.313,475.790,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,5.990,68.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353956
$DATA_FILE_SIZE,30155,642
$CAP_FILE_SIZE,75241,0
$CFSIZE,260165632,257740800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191213,144912,4742.483,-12225.824,23,1.7,29,18.2