version: 66.12
glider: 130
mission: 32
dive: 2
start: 3 28 116 18 49 51
data:
$ID,130
$MISSION,32
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,300
$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,2630
$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,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,1600
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$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,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,20
$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
$GPS1,280316,184529,4743.1870,-12223.8799,10,1.2,10,18.2,0.3,50.1,8,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-62.2
$GPS2,280316,184856,4743.1748,-12223.8359,14,1.1,29,18.2,0.4,136.3,8,4.7
$SPEED_LIMITS,0.173,0.247
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.211367,0.127946
$KALMAN_X,179.070129,179.070129,179.070129,171.577805,444.396790
$KALMAN_Y,77.717316,77.717316,77.717316,299.958862,192.870392
$MHEAD_RNG_PITCHd_Wd,283.0,2590,-18.0,-10.000,-22.03,2247
$D_GRID,164
$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,-1.38,-146.0,602,2105,580,419,0.0,0.0,0,57,0.00,0.00,-38.12,0.000,16386,0.000,0.000,602,2105,1674,1706,1642,0,0,0,0,0,0,24.95,28.83,24.97
$GC,61,-1.38,-146.0,602,2106,1706,1640,2.1,-4.0,5,92,9.40,0.00,-14.23,0.000,18694,0.144,0.000,2322,2106,2182,2239,2125,0,0,0,0,0,0,24.46,24.23,24.58
$GC,236,-1.38,-146.0,2322,2106,2241,2125,18.9,-12.3,33,244,0.00,2.53,0.00,0.000,260,0.000,0.061,2322,3503,2183,2241,2125,0,0,0,0,0,0,24.95,24.65,24.96
$GC,398,-1.38,-146.0,2322,3503,2241,2125,39.7,-13.2,60,406,0.00,2.47,0.00,0.000,1030,0.000,0.047,2322,2095,2183,2241,2125,0,0,0,0,0,0,24.74,24.69,24.77
$GC,545,-1.38,-146.0,2321,2095,2241,2125,59.3,-12.6,85,552,0.00,2.53,0.00,0.000,260,0.000,0.059,2322,3518,2183,2241,2125,0,0,0,0,0,0,25.01,24.70,25.03
$GC,651,-1.38,-146.0,2322,3518,2241,2125,73.2,-12.8,103,658,0.00,2.45,0.00,0.000,1030,0.000,0.047,2322,2096,2183,2241,2125,0,0,0,0,0,0,24.81,24.72,24.83
$GC,868,-1.38,-146.0,2322,2094,2241,2125,101.6,-12.2,140,877,0.00,2.53,0.00,0.000,516,0.000,0.062,2322,690,2183,2241,2125,0,0,0,0,0,0,25.04,24.72,25.06
$GC,927,-1.38,-146.0,2322,690,2241,2125,109.4,-14.0,149,934,0.00,2.40,0.00,0.000,1030,0.000,0.044,2322,2106,2183,2241,2125,0,0,0,0,0,0,24.84,24.77,24.87
$GC,1140,-1.38,-146.0,2322,2106,2241,2125,135.5,-10.7,186,1149,0.00,2.50,0.00,0.000,260,0.000,0.060,2322,3503,2183,2241,2125,0,0,0,0,0,0,25.08,24.77,25.10
$GC,1208,-1.38,-146.0,2322,3504,2241,2125,143.0,-11.8,197,1215,0.00,2.42,0.00,0.000,1030,0.000,0.046,2323,2089,2183,2241,2125,0,0,0,0,0,0,24.87,24.77,24.89
$STATE,1267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1268,begin apogee
$GC,1274,-0.33,0.0,2322,2089,2241,2125,150.1,-11.3,207,1392,1.15,0.00,110.40,0.630,10246,0.112,0.000,2551,2088,1599,1672,1527,0,0,0,0,0,0,24.66,24.14,23.84
$STATE,1393,end apogee,CONTROL_FINISHED_OK
$STATE,1393,begin climb
$GC,1396,1.38,146.0,2551,2088,1672,1526,154.3,0.0,225,1516,1.73,2.60,111.10,0.595,10756,0.086,0.063,2917,690,1017,1108,927,0,0,0,0,0,0,24.34,24.24,23.82
$GC,1581,1.38,146.0,2916,690,1106,926,137.1,12.4,254,1590,0.00,2.47,0.00,0.000,1030,0.000,0.043,2917,2099,1015,1104,926,0,0,0,0,0,0,24.52,24.49,24.54
$GC,1800,1.38,146.0,2916,2100,1105,922,112.2,10.9,291,1807,0.00,2.53,0.00,0.000,516,0.000,0.062,2917,693,1013,1104,922,0,0,0,0,0,0,24.82,24.51,24.84
$GC,1854,1.38,146.0,2916,693,1104,921,105.7,11.8,300,1862,0.00,2.45,0.00,0.000,1030,0.000,0.043,2917,2098,1012,1104,921,0,0,0,0,0,0,24.60,24.57,24.63
$GC,2071,1.38,150.1,2916,2099,1104,921,82.7,9.8,337,2086,0.00,2.58,3.75,0.337,8708,0.000,0.062,2917,696,1002,1094,910,0,0,0,0,0,0,24.87,24.52,24.10
$GC,2228,1.38,150.1,2916,696,1094,910,64.5,11.3,364,2236,0.00,2.45,0.00,0.000,1030,0.000,0.044,2917,2104,1002,1094,910,0,0,0,0,0,0,24.67,24.63,24.69
$GC,2445,1.38,150.1,2916,2105,1094,910,43.6,10.4,401,2453,0.00,2.58,0.00,0.000,516,0.000,0.063,2917,694,1001,1093,910,0,0,0,0,0,0,24.94,24.60,24.95
$GC,2497,1.38,150.1,2916,694,1093,910,37.7,11.4,409,2506,0.00,2.45,0.00,0.000,1030,0.000,0.044,2917,2103,1001,1093,910,0,0,0,0,0,0,24.70,24.68,24.73
$GC,2648,1.38,150.1,2916,2108,1094,910,22.0,10.1,434,2656,0.00,2.58,0.00,0.000,516,0.000,0.062,2917,691,1001,1093,910,0,0,0,0,0,0,24.96,24.64,24.98
$GC,2706,1.38,150.1,2916,690,1093,909,15.7,10.8,443,2715,0.00,2.45,0.00,0.000,1030,0.000,0.044,2917,2098,1001,1093,910,0,0,0,0,0,0,24.73,24.70,24.76
$STATE,2841,end climb,SURFACE_DEPTH_REACHED
$STATE,2841,begin surface coast
$FINISH,0.1,1.010869
$STATE,2885,end surface coast,CONTROL_FINISHED_OK
$STATE,2885,begin surface
$SM_CCo,2906,76.65,0.520,0,0,500,276.32
$SM_CCo,2986,-0.05,0.000,0,0,501,276.32
$SM_CCo,2990,0.00,0.000,0,0,500,276.32
$SM_GC,0.93,10.32,0.00,0.00,0.045,0.000,0.000,605,2102,500,-9.25,0.06,276.32,0,0,0,0,0,0,24.72,25.01,24.61
$IRIDIUM_FIX,4722.92,-12225.08,280316,184050
$TT8_MAMPS,0.024717,0.271887
$HUMID,46.61
$INTERNAL_PRESSURE,9.00069
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.9
$ALTIM_BOTTOM_PING,100.4,72.0
$24V_AH,23.60,0.239
$10V_AH,10.31,0.145
$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,22.600,44.950,225.250,76.650,0.000,0.000,0.000,0.000,0.750,0.000,31.683,1053.533,248.477,339.656,1347.219,92.482,30.291,807.708,0.000,1321.876,0.000,7.247,0.000
$DEVICE_MAMPS,143.820,62.730,629.595,520.200,0.000,0.000,0.000,0.000,420.000,0.000,31.460,11.960,2.190,11.960,38.180,44.170,62.900,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,323.563,1025.436,1035.058,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,19.470,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312724
$DATA_FILE_SIZE,33722,473
$CAP_FILE_SIZE,72529,0
$CFSIZE,260165632,258723840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280316,194103,4743.575,-12224.098,8,1.2,41,18.2,0.0,143.7,8,5.7