version: 66.12
glider: 130
mission: 32
dive: 8
start: 3 29 116 1 47 8
data:
$ID,130
$MISSION,32
$DIVE,8
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,3500
$C_ROLL_CLIMB,3500
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,16
$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
$GPS1,290316,014033,4742.8599,-12224.6475,9,1.2,30,18.2,0.4,205.1,9,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-63.5
$GPS2,290316,014604,4742.7812,-12224.6846,11,1.5,21,18.2,0.7,193.4,8,6.1
$SPEED_LIMITS,0.268,0.334
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.054458,0.329209
$KALMAN_X,315.767944,367.612457,-331.374054,-679.129761,-182.789886
$KALMAN_Y,-1251.444458,349.752319,-306.493561,1038.304810,-869.785706
$MHEAD_RNG_PITCHd_Wd,351.2,3191,-11.4,-9.744,-16.28,4607
$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,-1.02,-292.0,607,3488,560,428,0.0,0.0,0,64,0.00,0.00,-45.15,0.000,16386,0.000,0.000,606,3488,1896,1924,1868,0,0,0,0,0,0,24.77,28.83,24.79
$GC,68,-1.02,-292.0,607,3488,1924,1867,2.4,-5.1,6,107,10.38,0.00,-19.55,0.000,18438,0.158,0.000,2433,3489,2778,2818,2739,0,0,0,0,0,0,24.32,23.72,24.44
$GC,250,-1.02,-292.0,2433,3489,2820,2739,21.4,-9.1,35,258,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,3489,2779,2820,2739,0,0,0,0,0,0,24.79,24.82,24.82
$GC,399,-1.02,-292.0,2433,3488,2820,2739,35.6,-9.6,60,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,3488,2779,2820,2739,0,0,0,0,0,0,24.82,24.85,24.84
$GC,548,-1.02,-292.0,2432,3488,2820,2739,48.7,-9.1,85,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,3488,2779,2820,2739,0,0,0,0,0,0,24.85,24.87,24.87
$GC,694,-1.02,-292.0,2433,3488,2820,2739,62.4,-9.4,110,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,3488,2779,2820,2739,0,0,0,0,0,0,24.87,24.89,24.88
$GC,908,-1.02,-292.0,2433,3488,2820,2739,83.6,-9.8,147,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,3488,2779,2820,2739,0,0,0,0,0,0,24.89,24.91,24.91
$GC,1122,-1.02,-292.0,2432,3489,2820,2739,107.1,-12.4,184,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,3488,2779,2820,2739,0,0,0,0,0,0,24.91,24.94,24.93
$GC,1345,-1.02,-292.0,2433,3489,2820,2739,132.4,-11.6,221,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,3489,2779,2820,2739,0,0,0,0,0,0,24.93,24.95,24.94
$GC,1564,-1.02,-292.0,2432,3488,2820,2739,156.8,-10.7,258,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,3489,2779,2820,2739,0,0,0,0,0,0,24.95,24.97,24.97
$STATE,1747,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1747,begin apogee
$GC,1753,-0.32,0.0,2433,3489,2820,2739,175.0,-9.8,290,1978,0.75,0.00,215.20,0.610,10246,0.096,0.000,2590,3488,1612,1692,1532,0,0,0,0,0,0,24.62,24.13,23.75
$STATE,1979,end apogee,CONTROL_FINISHED_OK
$STATE,1979,begin climb
$GC,1982,1.02,292.0,2590,3488,1692,1531,183.6,0.0,324,2202,1.38,0.00,210.60,0.588,10246,0.085,0.000,2872,3488,500,616,384,0,0,0,0,0,0,24.23,24.10,23.73
$GC,2411,1.02,292.0,2871,3488,616,377,145.0,10.1,393,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,3488,496,615,377,0,0,0,0,0,0,24.68,24.70,24.70
$GC,2624,1.02,292.0,2871,3488,615,377,122.6,12.2,430,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,3488,496,615,377,0,0,0,0,0,0,24.73,24.75,24.75
$GC,2842,1.06,323.8,2872,3488,615,377,101.3,9.0,467,2848,0.00,0.00,0.00,0.000,2054,0.000,0.000,2872,3488,496,615,377,0,0,0,0,0,0,24.78,24.79,24.79
$GC,3056,1.08,345.2,2871,3488,615,377,81.4,9.3,504,3064,0.08,0.00,0.00,0.000,2054,0.099,0.000,2901,3488,496,615,377,0,0,0,0,0,0,24.58,24.62,24.60
$GC,3272,1.08,345.2,2901,3488,615,377,59.0,10.0,541,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,3488,496,616,377,0,0,0,0,0,0,24.83,24.84,24.84
$GC,3489,1.08,345.2,2901,3488,615,376,35.4,10.7,578,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,3488,496,615,377,0,0,0,0,0,0,24.85,24.87,24.87
$GC,3639,1.10,364.8,2901,3488,615,377,20.4,9.3,603,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,3488,496,615,377,0,0,0,0,0,0,24.87,24.89,24.89
$GC,3788,1.10,364.8,2901,3488,615,376,4.9,12.4,628,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,3488,496,615,377,0,0,0,0,0,0,24.89,24.91,24.90
$STATE,3802,end climb,SURFACE_DEPTH_REACHED
$STATE,3802,begin surface coast
$FINISH,0.0,1.021224
$STATE,3832,end surface coast,CONTROL_FINISHED_OK
$STATE,3833,begin surface
$SM_CCo,3913,0.00,0.000,0,0,494,280.84
$SM_GC,0.89,10.30,0.00,0.00,0.044,0.000,0.000,601,3488,494,-9.43,-0.34,280.84,0,0,0,0,0,0,24.62,24.91,24.67
$IRIDIUM_FIX,4722.92,-12225.08,290316,004059
$TT8_MAMPS,0.024717,0.23968
$HUMID,47.44
$INTERNAL_PRESSURE,9.00069
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.4,49.3
$24V_AH,23.61,0.673
$10V_AH,10.31,0.531
$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,22.875,5.350,425.800,0.000,0.000,28.380,55.636,140.193,2.500,0.000,24.127,1328.703,420.571,388.324,1984.816,128.403,33.442,1017.353,0.000,1733.681,0.000,20.840,0.000
$DEVICE_MAMPS,157.590,49.725,610.470,0.000,0.000,58.140,160.000,223.000,420.000,0.000,31.460,11.960,2.190,11.960,38.180,44.170,62.900,15.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,432.813,1309.730,1330.355,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43883,635
$CAP_FILE_SIZE,56215,0
$CFSIZE,260165632,258478080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290316,025333,4742.452,-12225.154,9,1.4,43,18.2,0.5,218.9,8,5.3