version: 66.12
glider: 130
mission: 32
dive: 5
start: 3 28 116 22 34 7
data:
$ID,130
$MISSION,32
$DIVE,5
$N_DIVES,20
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,190
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$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,65
$T_MISSION,75
$T_ABORT,1440
$T_TURN,500
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52055
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.00285829
$HD_B,0.0114352
$HD_C,1.30115e-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,280
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,6
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,600
$PITCH_MAX,3702
$C_PITCH,2657
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,15
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,240
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,2170
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,1613
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$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,5
$AH0_24V,92
$AH0_10V,97
$MINV_24V,18
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-10.063459
$PRESSURE_SLOPE,0.0001159091
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043493826
$SEABIRD_T_H,0.00063626212
$SEABIRD_T_I,2.5578438e-05
$SEABIRD_T_J,2.8240738e-06
$SEABIRD_C_G,-10.043513
$SEABIRD_C_H,1.1284032
$SEABIRD_C_I,-0.0020332292
$SEABIRD_C_J,0.0002405866
$GPS1,280316,222733,4743.7910,-12224.6533,11,1.6,33,18.2,0.3,264.4,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-58.1
$GPS2,280316,223306,4743.7529,-12224.6758,12,1.0,12,18.2,0.7,177.3,8,7.7
$SPEED_LIMITS,0.097,0.192
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.060605,-0.181998
$KALMAN_X,410.305176,441.157471,276.293121,-1441.982910,-129.807236
$KALMAN_Y,597.523804,365.663696,96.156891,544.484070,86.569542
$MHEAD_RNG_PITCHd_Wd,143.4,1411,-23.3,-9.744,-26.93,1384
$D_GRID,174
$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,14,begin dive
$GC,16,-1.59,-87.6,605,2186,598,394,0.0,0.0,0,64,0.00,0.00,-44.95,0.000,16386,0.000,0.000,605,2185,1877,1907,1848,0,0,0,0,0,0,24.87,28.83,24.89
$GC,67,-1.59,-87.6,605,2185,1907,1848,2.3,-4.5,6,85,9.30,2.72,-2.03,0.000,19204,0.145,1.252,2302,761,1963,2010,1917,0,0,0,0,0,0,24.42,23.66,24.53
$GC,375,-1.59,-87.6,2302,760,2015,1917,39.3,-10.8,58,383,0.00,2.45,0.00,0.000,1030,0.000,0.043,2302,2170,1965,2015,1916,0,0,0,0,0,0,24.70,24.65,24.72
$GC,524,-1.59,-87.6,2302,2170,2016,1916,55.2,-10.2,83,530,0.00,2.47,0.00,0.000,260,0.000,0.057,2302,3579,1965,2015,1915,0,0,0,0,0,0,24.94,24.65,24.95
$GC,584,-1.59,-87.6,2301,3579,2016,1914,61.3,-10.1,93,591,0.00,2.42,0.00,0.000,1030,0.000,0.042,2302,2167,1965,2015,1915,0,0,0,0,0,0,24.74,24.66,24.76
$GC,800,-1.59,-87.6,2302,2167,2015,1915,80.8,-9.0,130,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2167,1964,2015,1914,0,0,0,0,0,0,24.96,24.98,24.98
$GC,1019,-1.59,-87.6,2302,2167,2015,1914,99.0,-8.6,167,1025,0.00,2.50,0.00,0.000,260,0.000,0.060,2302,3578,1965,2017,1914,0,0,0,0,0,0,24.98,24.69,25.00
$GC,1129,-1.59,-87.6,2301,3577,2015,1913,109.9,-9.5,185,1137,0.00,2.40,0.00,0.000,1030,0.000,0.044,2302,2172,1965,2016,1914,0,0,0,0,0,0,24.79,24.70,24.81
$GC,1351,-1.59,-87.6,2302,2170,2016,1913,131.4,-9.0,222,1360,0.00,2.53,0.00,0.000,260,0.000,0.057,2302,3576,1964,2016,1913,0,0,0,0,0,0,25.01,24.71,25.02
$GC,1491,-1.59,-87.6,2302,3576,2015,1913,144.0,-9.3,245,1497,0.00,2.40,0.00,0.000,1030,0.000,0.044,2302,2169,1964,2015,1914,0,0,0,0,0,0,24.82,24.73,24.84
$GC,1702,-1.59,-87.6,2302,2169,2015,1913,163.8,-9.1,282,1711,0.00,2.53,0.00,0.000,260,0.000,0.059,2302,3571,1964,2015,1913,0,0,0,0,0,0,25.03,24.73,25.05
$GC,1737,-1.59,-87.6,2302,3572,2016,1913,167.0,-9.4,287,1744,0.00,2.40,0.00,0.000,1030,0.000,0.045,2302,2170,1964,2015,1913,0,0,0,0,0,0,24.83,24.74,24.84
$STATE,1811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1811,begin apogee
$GC,1817,-0.33,0.0,2302,2170,2015,1913,174.0,-8.8,300,1892,1.40,0.00,68.55,0.628,10246,0.116,0.000,2578,2171,1612,1682,1543,0,0,0,0,0,0,24.63,24.22,23.78
$STATE,1893,end apogee,CONTROL_FINISHED_OK
$STATE,1893,begin climb
$GC,1895,1.59,87.6,2578,2170,1682,1544,175.7,0.0,311,1975,1.95,0.00,68.32,0.614,10502,0.078,0.000,2991,2170,1263,1338,1189,0,0,0,0,0,0,24.31,24.06,23.77
$GC,2183,1.59,87.6,2990,2171,1336,1181,143.0,13.7,359,2189,0.00,2.50,0.00,0.000,516,0.000,0.061,2991,772,1258,1336,1181,0,0,0,0,0,0,24.79,24.49,24.81
$GC,2281,1.59,87.6,2990,771,1334,1180,128.4,14.6,376,2290,0.00,2.45,0.00,0.000,1030,0.000,0.041,2991,2179,1257,1334,1180,0,0,0,0,0,0,24.58,24.56,24.62
$GC,2499,1.59,87.6,2990,2179,1334,1179,101.0,14.4,413,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2179,1256,1334,1179,0,0,0,0,0,0,24.85,24.88,24.87
$GC,2711,1.59,87.6,2990,2180,1334,1178,71.6,14.7,450,2720,0.00,2.58,0.00,0.000,516,0.000,0.062,2991,767,1256,1334,1178,0,0,0,0,0,0,24.88,24.57,24.90
$GC,2814,1.59,87.6,2990,767,1333,1178,57.3,15.2,467,2820,0.00,2.42,0.00,0.000,1030,0.000,0.042,2991,2187,1255,1333,1178,0,0,0,0,0,0,24.70,24.63,24.72
$GC,3031,1.59,87.6,2990,2188,1333,1177,30.6,11.4,504,3040,0.00,2.58,0.00,0.000,516,0.000,0.061,2990,770,1255,1333,1177,0,0,0,0,0,0,24.91,24.60,24.94
$GC,3106,1.59,87.6,2991,770,1333,1177,21.0,13.1,516,3115,0.00,2.45,0.00,0.000,1030,0.000,0.042,2991,2180,1255,1333,1177,0,0,0,0,0,0,24.70,24.66,24.72
$GC,3257,1.59,87.6,2990,2180,1333,1177,4.5,10.2,541,3265,0.00,2.55,0.00,0.000,516,0.000,0.060,2991,773,1255,1333,1177,0,0,0,0,0,0,24.94,24.63,24.96
$STATE,3273,end climb,SURFACE_DEPTH_REACHED
$STATE,3274,begin surface coast
$FINISH,0.2,1.021024
$STATE,3309,end surface coast,CONTROL_FINISHED_OK
$STATE,3310,begin surface
$SM_CCo,3333,121.88,0.508,0,0,500,279.59
$SM_CCo,3459,-0.08,0.000,0,0,501,279.59
$SM_CCo,3463,0.10,0.147,0,0,500,279.59
$SM_GC,0.96,10.75,2.45,0.10,0.047,0.044,0.147,603,2168,500,-9.39,-0.88,279.59,0,0,0,0,0,0,24.66,24.67,24.28
$IRIDIUM_FIX,4729.30,-12010.54,280316,211603
$TT8_MAMPS,0.024717,0.27713
$HUMID,47.08
$INTERNAL_PRESSURE,8.99093
$TCM_TEMP,13.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.2,67.0
$24V_AH,23.56,0.482
$10V_AH,10.31,0.349
$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,23.400,44.800,136.875,121.975,0.000,31.176,36.672,162.779,1.750,0.000,15.019,1266.856,334.111,330.992,1750.100,128.146,33.426,817.984,0.000,1502.118,0.000,16.516,0.000
$DEVICE_MAMPS,144.585,1251.540,628.065,507.960,0.000,58.140,160.000,223.000,420.000,0.000,31.460,11.960,2.190,11.960,38.180,44.170,62.900,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,376.776,1137.066,1147.281,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,19.470,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312732
$DATA_FILE_SIZE,37056,549
$CAP_FILE_SIZE,60252,0
$CFSIZE,260165632,258596864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280316,233303,4743.270,-12224.620,9,1.7,31,18.2,0.5,173.4,8,5.5