version: 66.11
glider: 130
mission: 19
dive: 4
start: 12 18 113 21 39 59
data:
$ID,130
$MISSION,19
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$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,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,200
$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,-118508.31
$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,3005
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$GPS1,181213,213525,4742.570,-12224.804,11,1.2,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-58.4
$GPS2,181213,213931,4742.537,-12224.810,13,1.2,13,18.2
$SPEED_LIMITS,0.143,0.271
$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,342.1,2524,-16.8,-10.000,-20.27,2205
$D_GRID,100
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-146.6,647,1785,580,420,0.0,0.0,0,71,0.00,0.00,-53.65,0.000,16386,0.000,0.000,647,1786,2094,2124,2064,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-1.38,-146.6,648,1786,2124,2064,2.3,-4.5,10,104,11.45,0.00,-14.80,0.000,18950,0.152,0.000,2695,1786,2649,2701,2598,0,0,0,0,0,0,24.47,28.83,24.94
$GC,167,-1.38,-146.6,2695,1786,2701,2598,11.1,-12.7,27,173,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1786,2649,2701,2598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,236,-1.38,-146.6,2695,1786,2701,2598,19.6,-12.5,40,242,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1786,2649,2701,2598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,306,-1.38,-146.6,2695,1786,2701,2598,28.1,-11.6,53,312,0.00,2.55,0.00,0.000,516,0.000,0.074,2695,386,2650,2702,2598,0,0,0,0,0,0,28.83,24.60,28.83
$GC,370,-1.38,-146.6,2695,386,2701,2598,36.6,-12.6,65,377,0.00,2.47,0.00,0.000,1030,0.000,0.046,2695,1826,2650,2701,2599,0,0,0,0,0,0,28.83,24.70,28.83
$GC,440,-1.38,-146.6,2695,1826,2701,2598,44.8,-11.5,78,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1826,2649,2701,2598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,508,-1.38,-146.6,2695,1826,2701,2598,52.5,-10.8,91,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1826,2649,2701,2598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,636,-1.38,-146.6,2695,1826,2701,2598,65.9,-11.6,116,643,0.00,2.60,0.00,0.000,516,0.000,0.070,2695,385,2649,2701,2598,0,0,0,0,0,0,28.83,24.64,28.83
$GC,686,-1.38,-146.6,2695,384,2701,2598,71.9,-12.8,125,692,0.00,2.45,0.00,0.000,1030,0.000,0.044,2695,1826,2650,2702,2598,0,0,0,0,0,0,28.83,24.72,28.83
$GC,815,-1.38,-146.6,2695,1826,2701,2598,85.2,-10.1,150,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1826,2649,2701,2598,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,910,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,910,begin apogee
$GC,917,-0.36,0.0,2695,1730,2702,2598,95.2,-11.1,168,1036,1.10,0.03,109.68,0.438,10246,0.102,0.110,2918,1757,2048,2125,1972,0,0,0,0,0,0,24.66,24.18,23.94
$STATE,1039,end apogee,CONTROL_FINISHED_OK
$STATE,1039,begin climb
$GC,1041,1.38,146.6,2917,1757,2126,1972,100.1,0.0,190,1161,1.80,0.00,110.70,0.426,10502,0.079,0.000,3301,1757,1451,1541,1362,0,0,0,0,0,0,24.39,28.83,23.91
$GC,1285,1.38,146.6,3301,1757,1540,1359,81.8,11.4,236,1291,0.00,2.60,0.00,0.000,516,0.000,0.073,3301,338,1449,1541,1358,0,0,0,0,0,0,28.83,24.45,28.83
$GC,1324,1.38,146.6,3301,338,1541,1358,76.6,13.2,243,1331,0.00,2.47,0.00,0.000,1030,0.000,0.044,3301,1779,1449,1541,1358,0,0,0,0,0,0,28.83,24.54,28.83
$GC,1456,1.38,149.9,3301,1780,1540,1357,62.7,9.8,268,1462,0.00,0.00,3.45,0.245,8198,0.000,0.000,3301,1780,1438,1531,1346,0,0,0,0,0,0,28.83,28.83,24.20
$GC,1588,1.38,149.9,3301,1780,1531,1346,48.6,10.2,293,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1780,1438,1531,1346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1657,1.38,149.9,3301,1780,1531,1346,41.2,10.6,306,1663,0.00,2.65,0.00,0.000,516,0.000,0.073,3301,332,1438,1531,1346,0,0,0,0,0,0,28.83,24.54,28.83
$GC,1706,1.38,149.9,3302,333,1531,1346,35.0,12.9,315,1713,0.00,2.47,0.00,0.000,1030,0.000,0.043,3301,1786,1438,1531,1346,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1777,1.38,149.9,3302,1785,1531,1346,27.0,11.1,328,1784,0.00,2.40,0.00,0.000,260,0.000,0.054,3301,3174,1438,1531,1345,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1801,1.38,149.9,2304,3172,1494,1341,24.5,10.3,332,1807,0.00,2.53,0.00,0.000,1030,0.000,0.054,3302,1735,1438,1531,1345,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1871,1.42,179.2,3301,1735,1530,1345,17.7,8.6,345,1900,0.00,2.65,23.80,0.367,8708,0.000,0.073,3301,338,1318,1410,1226,0,0,0,0,0,0,28.83,24.36,24.08
$GC,1983,1.42,179.2,3301,338,1410,1226,3.1,14.2,366,1989,0.00,2.45,0.00,0.000,1030,0.000,0.043,3301,1776,1318,1410,1226,0,0,0,0,0,0,28.83,24.62,28.83
$STATE,1994,end climb,SURFACE_DEPTH_REACHED
$STATE,1994,begin surface coast
$FINISH,0.5,1.023138
$STATE,2015,end surface coast,CONTROL_FINISHED_OK
$STATE,2016,begin surface
$SM_CCo,2038,12.32,0.055,0,0,1234,200.16
$SM_GC,2.40,11.70,0.08,12.32,0.034,0.116,0.055,647,1827,1234,-10.79,-0.23,200.16,0,0,0,0,0,0,24.65,24.72,24.60
$IRIDIUM_FIX,4719.74,-12215.54,181213,212105
$TT8_MAMPS,0.024717,0.024717
$HUMID,32.75
$INTERNAL_PRESSURE,8.97648
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.2,7.3
$24V_AH,23.9,0.370
$10V_AH,10.3,0.460
$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,26.050,30.575,247.625,12.325,0.000,0.000,0.000,0.000,1.000,0.000,14.370,781.147,367.620,338.728,556.517,73.846,0.000,684.999,0.000,542.458,0.000,9.736,0.000
$DEVICE_MAMPS,152.235,115.515,437.580,55.080,0.000,0.000,0.000,0.000,420.000,0.000,29.210,11.220,2.190,11.220,36.680,42.670,0.000,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,266.733,192.289,326.817,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,5.990,68.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354028
$DATA_FILE_SIZE,16863,372
$CAP_FILE_SIZE,66065,0
$CFSIZE,260165632,258326528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181213,221523,4742.708,-12224.882,31,1.1,42,18.2