version: 66.11
glider: 130
mission: 19
dive: 6
start: 12 18 113 23 32 33
data:
$ID,130
$MISSION,19
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$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,60
$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,-118557.36
$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,2998
$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,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,181213,231821,4742.598,-12225.146,10,7.2,30,18.2
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-63.2
$GPS2,181213,233205,4742.467,-12225.355,14,1.1,30,18.2
$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,356.4,2743,-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,-146.6,644,1818,1288,1172,0.0,0.0,0,45,0.00,0.00,-27.23,0.000,16386,0.000,0.000,644,1818,2052,2088,2017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-1.38,-146.6,644,1818,2089,2017,2.2,-4.0,5,83,11.48,0.00,-16.02,0.000,18950,0.153,0.000,2687,1819,2648,2699,2597,0,0,0,0,0,0,24.43,28.83,24.89
$GC,146,-1.38,-146.6,2687,1819,2700,2597,11.5,-12.4,23,152,0.00,2.45,0.00,0.000,260,0.000,0.054,2687,3223,2648,2699,2597,0,0,0,0,0,0,28.83,24.60,28.83
$GC,200,-1.38,-146.6,2687,3223,2699,2597,18.3,-12.5,33,206,0.00,2.53,0.00,0.000,1030,0.000,0.052,2687,1786,2648,2699,2597,0,0,0,0,0,0,28.83,24.61,28.83
$GC,269,-1.38,-146.6,2687,1785,2699,2597,27.1,-12.5,46,275,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1786,2648,2699,2597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,338,-1.38,-146.6,2687,1786,2699,2598,35.6,-12.3,59,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1786,2648,2700,2597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,407,-1.38,-146.6,2687,1786,2700,2597,44.3,-12.7,72,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1786,2648,2699,2597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,476,-1.38,-146.6,2687,1786,2699,2597,53.2,-13.2,85,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1786,2648,2699,2597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,604,-1.38,-146.6,2687,1786,2699,2597,69.7,-12.7,110,611,0.00,2.53,0.00,0.000,516,0.000,0.070,2687,384,2648,2700,2597,0,0,0,0,0,0,28.83,24.62,28.83
$GC,658,-1.38,-146.6,1664,384,2637,2586,77.5,-14.6,120,664,0.00,2.45,0.00,0.000,1030,0.000,0.043,2687,1827,2648,2699,2597,0,0,0,0,0,0,28.83,24.70,28.83
$GC,787,-1.38,-146.6,2687,1830,2700,2597,94.3,-12.5,145,794,0.00,2.42,0.00,0.000,260,0.000,0.053,2687,3233,2648,2699,2597,0,0,0,0,0,0,28.83,24.69,28.83
$GC,826,-1.38,-146.6,2687,3233,2700,2597,99.0,-11.7,152,833,0.00,2.50,0.00,0.000,1030,0.000,0.050,2687,1791,2648,2700,2597,0,0,0,0,0,0,28.83,24.69,28.83
$STATE,840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,840,begin apogee
$GC,846,-0.36,0.0,2687,1736,2700,2597,100.5,-11.1,154,965,1.15,0.00,109.80,0.437,10246,0.110,0.000,2914,1735,2048,2127,1970,0,0,0,0,0,0,24.60,28.83,23.92
$STATE,966,end apogee,CONTROL_FINISHED_OK
$STATE,966,begin climb
$GC,971,1.38,146.6,2914,1735,2126,1970,105.3,0.0,176,1090,1.75,0.00,110.80,0.428,10502,0.070,0.000,3295,1735,1451,1540,1362,0,0,0,0,0,0,24.38,28.83,23.89
$GC,1213,1.38,151.9,3295,1735,1540,1359,86.9,9.8,222,1226,0.00,2.58,5.50,0.316,8708,0.000,0.071,3295,337,1429,1520,1338,0,0,0,0,0,0,28.83,24.39,24.11
$GC,1274,1.38,151.9,3295,337,1520,1338,80.5,11.8,233,1280,0.00,2.47,0.00,0.000,1030,0.000,0.042,3295,1781,1429,1520,1338,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1405,1.38,151.9,3295,1782,1520,1336,67.3,10.0,258,1411,0.00,2.42,0.00,0.000,260,0.000,0.053,3295,3178,1428,1520,1337,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1439,1.39,155.5,3295,3178,1519,1336,63.4,9.8,264,1452,0.00,2.53,4.28,0.278,9222,0.000,0.053,3295,1743,1412,1503,1321,0,0,0,0,0,0,28.83,24.57,24.18
$GC,1577,1.39,155.5,3295,1743,1504,1321,49.0,10.6,290,1584,0.00,2.58,0.00,0.000,516,0.000,0.073,3295,331,1413,1505,1321,0,0,0,0,0,0,28.83,24.52,28.83
$GC,1662,1.39,155.5,3295,331,1505,1321,38.5,13.6,306,1668,0.00,2.47,0.00,0.000,1030,0.000,0.041,3295,1784,1413,1505,1321,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1731,1.39,155.5,3295,1784,1504,1321,31.0,10.5,319,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1784,1413,1505,1321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1800,1.42,177.0,3295,1784,1505,1321,24.4,9.0,332,1823,0.00,0.00,17.73,0.364,8198,0.000,0.000,3295,1784,1327,1419,1235,0,0,0,0,0,0,28.83,28.83,24.10
$GC,1885,1.42,177.0,3295,1784,1419,1235,15.6,11.1,348,1892,0.00,2.67,0.00,0.000,516,0.000,0.073,3295,333,1326,1419,1234,0,0,0,0,0,0,28.83,24.51,28.83
$GC,1910,1.42,177.0,3295,332,1419,1234,12.5,12.1,352,1916,0.00,2.47,0.00,0.000,1030,0.000,0.041,3295,1780,1326,1419,1234,0,0,0,0,0,0,28.83,24.61,28.83
$GC,1979,1.42,177.0,3295,1783,1418,1234,4.6,10.9,365,1986,0.00,2.42,0.00,0.000,260,0.000,0.052,3295,3182,1326,1419,1234,0,0,0,0,0,0,28.83,24.60,28.83
$STATE,1991,end climb,SURFACE_DEPTH_REACHED
$STATE,1991,begin surface coast
$FINISH,0.4,1.023031
$STATE,2017,end surface coast,CONTROL_FINISHED_OK
$STATE,2018,begin surface
$SM_CCo,2042,14.70,0.056,0,0,1234,200.16
$SM_GC,2.16,11.73,2.53,14.70,0.037,0.055,0.056,645,1788,1234,-10.77,0.23,200.16,0,0,0,0,0,0,24.65,24.60,24.60
$IRIDIUM_FIX,4716.56,-12243.92,181213,232358
$TT8_MAMPS,0.024717,0.024717
$HUMID,32.67
$INTERNAL_PRESSURE,8.97648
$TCM_TEMP,18.80
$XPDR_PINGS,0
$24V_AH,23.9,0.498
$10V_AH,10.3,0.528
$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,26.100,40.125,248.100,14.700,0.000,80.464,191.258,296.610,0.500,0.000,32.361,793.365,489.811,337.944,1147.070,122.537,0.000,690.708,0.000,543.717,0.000,5.605,0.000
$DEVICE_MAMPS,153.000,112.455,436.815,55.845,0.000,57.370,160.000,223.000,420.000,0.000,29.210,11.220,2.190,11.220,36.680,42.670,0.000,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,266.960,194.162,324.486,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,5.990,68.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353996
$DATA_FILE_SIZE,16879,372
$CAP_FILE_SIZE,52527,0
$CFSIZE,260165632,258277376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191213,000730,4742.604,-12225.330,8,1.4,8,18.2