version: 66.12
glider: 130
mission: 32
dive: 13
start: 3 29 116 7 31 12
data:
$ID,130
$MISSION,32
$DIVE,13
$N_DIVES,25
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$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,50
$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,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,24
$R_STBD_OVSHOOT,30
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,290316,072457,4743.2715,-12224.8750,14,1.1,41,18.2,0.4,209.3,8,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-66.9
$GPS2,290316,073012,4743.2124,-12224.9141,12,1.0,12,18.2,0.4,200.3,8,7.9
$SPEED_LIMITS,0.143,0.233
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.055832,0.226562
$KALMAN_X,-1118.481567,-347.335175,126.112335,722.665222,-48.610535
$KALMAN_Y,-4391.747559,-452.275848,157.325668,5300.429199,-132.724884
$MHEAD_RNG_PITCHd_Wd,355.6,2440,-24.0,-12.000,-27.22,1499
$D_GRID,177
$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,-1.67,-116.8,607,2185,567,426,0.0,0.0,0,48,0.00,0.00,-30.02,0.000,16386,0.000,0.000,606,2184,1460,1508,1413,0,0,0,0,0,0,24.76,28.83,24.78
$GC,52,-1.67,-116.8,606,2184,1507,1409,2.0,-4.8,4,83,9.43,0.00,-18.12,0.000,18438,0.151,0.000,2294,2185,2079,2141,2017,0,0,0,0,0,0,24.33,23.74,24.43
$GC,227,-1.67,-116.8,2294,2185,2141,2018,16.0,-11.2,32,236,0.00,2.53,0.00,0.000,260,0.000,0.058,2294,3573,2079,2141,2018,0,0,0,0,0,0,24.79,24.49,24.81
$GC,507,-1.67,-116.8,2294,3573,2141,2018,53.9,-14.1,80,515,0.00,2.47,0.00,0.000,1030,0.000,0.045,2294,2173,2080,2142,2018,0,0,0,0,0,0,24.60,24.56,24.63
$GC,724,-1.67,-116.8,2294,2173,2141,2017,83.7,-14.3,117,730,0.00,2.53,0.00,0.000,516,0.000,0.060,2294,754,2079,2141,2018,0,0,0,0,0,0,24.86,24.56,24.87
$GC,983,-1.67,-116.8,2294,754,2141,2018,122.5,-13.1,162,991,0.00,2.45,0.00,0.000,1030,0.000,0.041,2294,2170,2079,2141,2018,0,0,0,0,0,0,24.68,24.63,24.69
$GC,1201,-1.67,-116.8,2294,2170,2141,2018,149.0,-11.5,199,1208,0.00,2.47,0.00,0.000,260,0.000,0.057,2295,3573,2079,2141,2018,0,0,0,0,0,0,24.91,24.60,24.92
$GC,1356,-1.67,-116.8,2294,3574,2141,2018,167.2,-11.2,225,1363,0.00,2.42,0.00,0.000,1030,0.000,0.044,2294,2165,2079,2141,2018,0,0,0,0,0,0,24.72,24.64,24.74
$STATE,1439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1439,begin apogee
$GC,1445,-0.32,0.0,2294,2165,2141,2018,177.2,-11.0,239,1543,1.48,0.00,90.12,0.612,10246,0.117,0.000,2592,2165,1613,1683,1543,0,0,0,0,0,0,24.55,24.15,23.75
$STATE,1544,end apogee,CONTROL_FINISHED_OK
$STATE,1544,begin climb
$GC,1547,1.67,116.8,2592,2165,1683,1543,180.4,0.0,254,1647,2.05,2.55,90.57,0.600,10756,0.080,0.060,3016,766,1147,1225,1069,0,0,0,0,0,0,24.27,24.01,23.72
$GC,1685,1.67,116.8,3015,765,1224,1068,164.0,17.7,275,1692,0.00,2.45,0.00,0.000,1030,0.000,0.039,3016,2190,1146,1224,1068,0,0,0,0,0,0,24.45,24.38,24.46
$GC,1898,1.67,116.8,3015,2190,1223,1062,128.2,16.1,312,1906,0.00,2.60,0.00,0.000,516,0.000,0.060,3016,775,1142,1222,1062,0,0,0,0,0,0,24.73,24.44,24.75
$GC,1960,1.67,116.8,3015,775,1221,1062,117.1,18.5,322,1969,0.00,2.45,0.00,0.000,1030,0.000,0.041,3016,2177,1141,1221,1062,0,0,0,0,0,0,24.53,24.49,24.56
$GC,2179,1.67,116.8,3016,2178,1221,1060,82.5,14.0,359,2185,0.00,2.53,0.00,0.000,516,0.000,0.060,3016,771,1140,1220,1060,0,0,0,0,0,0,24.79,24.48,24.80
$GC,2312,1.67,116.8,3015,770,1220,1058,60.1,18.5,382,2321,0.00,2.47,0.00,0.000,1030,0.000,0.041,3016,2184,1139,1220,1059,0,0,0,0,0,0,24.58,24.55,24.60
$GC,2531,1.67,116.8,3015,2184,1220,1059,26.8,15.4,419,2540,0.00,2.58,0.00,0.000,516,0.000,0.061,3016,778,1139,1220,1058,0,0,0,0,0,0,24.83,24.52,24.85
$GC,2572,1.67,116.8,3015,778,1220,1059,20.2,16.6,425,2580,0.00,2.45,0.00,0.000,1030,0.000,0.041,3016,2178,1139,1220,1059,0,0,0,0,0,0,24.62,24.58,24.63
$STATE,2684,end climb,SURFACE_DEPTH_REACHED
$STATE,2684,begin surface coast
$FINISH,0.4,1.020010
$STATE,2706,end surface coast,CONTROL_FINISHED_OK
$STATE,2706,begin surface
$SM_CCo,2727,109.80,0.496,0,0,499,279.59
$SM_CCo,2841,-0.10,0.000,0,0,502,279.59
$SM_CCo,2845,0.10,0.148,0,0,500,279.59
$SM_GC,1.18,10.85,0.00,0.10,0.045,0.000,0.148,604,2182,500,-9.42,0.34,279.59,0,0,0,0,0,0,24.58,24.87,24.24
$IRIDIUM_FIX,4722.92,-12222.38,290316,061924
$TT8_MAMPS,0.024717,0.21721
$HUMID,45.94
$INTERNAL_PRESSURE,8.98116
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,23.51,0.959
$10V_AH,10.32,0.826
$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,23.800,34.950,180.700,109.900,0.000,30.455,38.094,145.578,0.000,0.000,14.480,1016.782,254.582,326.245,1455.370,120.437,33.459,748.871,0.000,1234.916,0.000,0.535,0.000
$DEVICE_MAMPS,150.705,61.200,612.000,495.720,0.000,58.140,160.000,223.000,420.000,0.000,31.460,11.960,2.190,11.960,38.180,44.170,62.900,15.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,305.799,943.880,954.758,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30478,447
$CAP_FILE_SIZE,48662,0
$CFSIZE,260165632,258285568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290316,081957,4743.562,-12224.707,11,1.7,38,18.2,0.4,219.6,9,4.9