version: 66.12
glider: 130
mission: 32
dive: 12
start: 3 29 116 6 24 38
data:
$ID,130
$MISSION,32
$DIVE,12
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$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,2665
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,15.5
$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,28
$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,0.001
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,110
$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
$GPS1,290316,061751,4742.9102,-12225.0195,7,1.5,40,18.2,0.2,220.9,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-62.0
$GPS2,290316,062340,4742.8721,-12225.0654,13,1.6,29,18.2,0.4,213.5,8,4.9
$SPEED_LIMITS,0.116,0.221
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.061657,0.211976
$KALMAN_X,-951.575989,-201.185898,-136.565613,482.440338,-41.702454
$KALMAN_Y,-3782.118408,-387.983643,-330.257355,4479.392578,22.397064
$MHEAD_RNG_PITCHd_Wd,358.0,3096,-19.9,-9.744,-23.81,1845
$D_GRID,190
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.40,-116.8,606,2183,569,423,0.0,0.0,0,64,0.00,0.00,-44.95,0.000,16386,0.000,0.000,606,2183,1893,1934,1852,0,0,0,0,0,0,24.77,28.83,24.79
$GC,68,-1.40,-116.8,606,2183,1935,1852,2.3,-4.9,6,93,9.73,2.60,-4.62,0.000,18692,0.148,1.244,2353,3568,2079,2139,2020,0,0,0,0,0,0,24.34,23.66,24.44
$GC,144,-1.40,-116.8,2352,3567,2139,2020,9.5,-9.3,17,152,0.00,2.47,0.00,0.000,1030,0.000,0.045,2353,2172,2080,2139,2021,0,0,0,0,0,0,24.50,24.46,24.53
$GC,293,-1.40,-116.8,2352,2172,2140,2020,25.0,-10.4,42,302,0.00,2.55,0.00,0.000,260,0.000,0.057,2353,3575,2080,2140,2021,0,0,0,0,0,0,24.79,24.49,24.81
$GC,419,-1.40,-116.8,2352,3575,2140,2020,40.0,-11.3,63,428,0.00,2.47,0.00,0.000,1030,0.000,0.044,2353,2170,2080,2140,2020,0,0,0,0,0,0,24.58,24.54,24.61
$GC,566,-1.40,-116.8,2352,2170,2141,2020,55.2,-10.5,88,575,0.00,2.55,0.00,0.000,260,0.000,0.056,2353,3574,2080,2140,2021,0,0,0,0,0,0,24.84,24.53,24.85
$GC,679,-1.40,-116.8,2352,3575,2140,2021,67.6,-11.0,107,686,0.00,2.42,0.00,0.000,1030,0.000,0.044,2352,2166,2080,2140,2021,0,0,0,0,0,0,24.65,24.57,24.68
$GC,892,-1.40,-116.8,2352,2166,2140,2020,90.1,-9.9,144,901,0.00,2.55,0.00,0.000,516,0.000,0.061,2353,759,2080,2140,2021,0,0,0,0,0,0,24.87,24.57,24.89
$GC,1155,-1.40,-116.8,2352,759,2141,2020,119.6,-10.2,189,1166,0.00,2.40,0.00,0.000,1030,0.000,0.041,2353,2172,2081,2141,2021,0,0,0,0,0,0,24.71,24.64,24.72
$GC,1373,-1.40,-116.8,2352,2173,2141,2020,141.9,-10.8,226,1381,0.00,2.50,0.00,0.000,260,0.000,0.057,2353,3567,2080,2140,2021,0,0,0,0,0,0,24.91,24.62,24.93
$GC,1467,-1.40,-116.8,2352,3568,2140,2021,153.2,-12.0,242,1476,0.00,2.45,0.00,0.000,1030,0.000,0.043,2352,2170,2081,2141,2021,0,0,0,0,0,0,24.69,24.65,24.72
$GC,1686,-1.40,-116.8,2352,2171,2141,2021,176.7,-9.5,279,1693,0.00,2.50,0.00,0.000,260,0.000,0.057,2353,3579,2080,2141,2020,0,0,0,0,0,0,24.94,24.63,24.96
$STATE,1768,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1768,begin apogee
$GC,1777,-0.32,0.0,2352,2170,2141,2021,185.1,-9.5,293,1875,1.17,0.00,90.43,0.620,10246,0.110,0.000,2586,2171,1612,1682,1543,0,0,0,0,0,0,24.56,24.15,23.75
$STATE,1876,end apogee,CONTROL_FINISHED_OK
$STATE,1876,begin climb
$GC,1879,1.40,116.8,2586,2170,1682,1543,187.5,0.0,308,1980,1.77,2.53,90.62,0.601,10756,0.080,0.061,2955,772,1146,1227,1066,0,0,0,0,0,0,24.25,24.01,23.72
$GC,2040,1.40,116.8,2955,772,1223,1066,170.6,16.1,333,2046,0.00,2.42,0.00,0.000,1030,0.000,0.040,2955,2186,1144,1223,1065,0,0,0,0,0,0,24.48,24.41,24.49
$GC,2253,1.40,116.8,2955,2186,1224,1060,141.1,12.3,370,2262,0.00,2.60,0.00,0.000,516,0.000,0.062,2955,774,1141,1223,1060,0,0,0,0,0,0,24.74,24.44,24.76
$GC,2322,1.40,116.8,2955,774,1222,1059,131.0,14.9,381,2328,0.00,2.40,0.00,0.000,1030,0.000,0.040,2955,2181,1140,1222,1059,0,0,0,0,0,0,24.57,24.51,24.59
$GC,2538,1.40,116.8,2955,2181,1222,1058,104.5,12.4,418,2546,0.00,2.58,0.00,0.000,516,0.000,0.062,2955,773,1140,1222,1058,0,0,0,0,0,0,24.79,24.49,24.81
$GC,2641,1.40,116.8,2955,773,1221,1058,91.0,13.6,435,2648,0.00,2.40,0.00,0.000,1030,0.000,0.041,2955,2180,1139,1221,1058,0,0,0,0,0,0,24.62,24.56,24.64
$GC,2854,1.40,116.8,2955,2180,1221,1057,65.7,11.1,472,2862,0.00,2.58,0.00,0.000,516,0.000,0.063,2955,775,1139,1221,1058,0,0,0,0,0,0,24.83,24.52,24.85
$GC,3026,1.40,116.8,2955,775,1220,1058,43.8,11.5,501,3034,0.00,2.45,0.00,0.000,1030,0.000,0.041,2955,2181,1139,1220,1058,0,0,0,0,0,0,24.63,24.60,24.65
$GC,3178,1.40,116.8,2955,2181,1220,1057,26.1,11.6,526,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2181,1138,1220,1057,0,0,0,0,0,0,24.87,24.89,24.89
$GC,3326,1.40,116.8,2955,2181,1220,1057,8.8,11.4,551,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2181,1138,1220,1057,0,0,0,0,0,0,24.88,24.91,24.90
$STATE,3369,end climb,SURFACE_DEPTH_REACHED
$STATE,3369,begin surface coast
$FINISH,0.3,1.019461
$STATE,3395,end surface coast,CONTROL_FINISHED_OK
$STATE,3395,begin surface
$SM_CCo,3415,113.07,0.501,0,0,500,279.59
$SM_CCo,3532,-0.08,0.000,0,0,501,279.59
$SM_CCo,3536,0.12,0.127,0,0,500,279.59
$SM_GC,1.00,10.55,0.00,0.12,0.045,0.000,0.127,606,2185,500,-9.41,0.42,279.59,0,0,0,0,0,0,24.60,24.91,24.25
$IRIDIUM_FIX,4722.92,-12229.50,290316,051237
$TT8_MAMPS,0.024717,0.217959
$HUMID,46.45
$INTERNAL_PRESSURE,8.98116
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.5,79.2
$24V_AH,23.51,0.901
$10V_AH,10.31,0.776
$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,23.225,49.900,181.050,113.200,0.000,31.111,41.680,158.027,1.000,0.000,31.820,1273.917,337.401,358.403,1796.792,130.472,33.458,880.877,0.000,1536.551,0.000,8.789,0.000
$DEVICE_MAMPS,148.410,1243.890,620.415,501.075,0.000,58.140,160.000,223.000,420.000,0.000,31.460,11.960,2.190,11.960,38.180,44.170,62.900,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.935,1162.522,1176.879,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,19.470,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312696
$DATA_FILE_SIZE,37055,562
$CAP_FILE_SIZE,60359,0
$CFSIZE,260165632,258306048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290316,072457,4743.271,-12224.875,14,1.1,41,18.2,0.4,209.3,8,4.7