version: 66.11
glider: 130
mission: 24
dive: 13
start: 2 20 115 10 50 54
data:
$ID,130
$MISSION,24
$DIVE,13
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,3
$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,75
$T_MISSION,85
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51861
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0021100601
$HD_B,0.0121726
$HD_C,2.7118101e-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,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-173080.27
$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,2624
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16.5
$PITCH_TIMEOUT,18
$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,2110
$C_ROLL_CLIMB,2030
$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,2300
$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,2
$AH0_24V,92
$AH0_10V,97
$MINV_24V,18
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-10.099391
$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,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
$DEVICE2,101
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044035749
$SEABIRD_T_H,0.00064291171
$SEABIRD_T_I,2.7386095e-05
$SEABIRD_T_J,3.1457723e-06
$SEABIRD_C_G,-9.7818193
$SEABIRD_C_H,1.0996603
$SEABIRD_C_I,-0.00026411601
$SEABIRD_C_J,0.00011607879
$GPS1,200215,103624,4743.287,-12224.845,12,1.7,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-67.0
$GPS2,200215,104954,4743.207,-12225.059,16,1.7,34,18.2
$SPEED_LIMITS,0.114,0.185
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.159,0.094
$KALMAN_X,-1284.5,1.5,118.6,132.5,-385.3
$KALMAN_Y,-4274.7,923.8,509.4,3181.6,-1026.3
$MHEAD_RNG_PITCHd_Wd,41.2,794,-17.1,-8.000,-23.42,1863
$D_GRID,178
$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,13,begin dive
$GC,16,-1.15,-97.8,598,2082,1122,1014,0.0,0.0,0,57,0.00,0.00,-38.42,0.000,16386,0.000,0.000,598,2082,2187,2226,2149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-1.15,-97.8,598,2082,2227,2149,2.1,-5.4,7,91,10.18,2.65,-14.12,0.000,18692,0.161,0.066,2367,3532,2700,2753,2648,0,0,0,0,0,0,24.23,24.33,24.69
$GC,240,-1.15,-97.8,2366,3532,2753,2650,20.1,-11.2,41,246,0.00,2.47,0.00,0.000,1030,0.000,0.037,2367,2091,2701,2753,2649,0,0,0,0,0,0,28.83,24.46,28.83
$GC,371,-1.15,-97.8,1384,2088,2688,2640,31.5,-7.5,66,377,0.00,2.45,0.00,0.000,516,0.000,0.052,2367,687,2701,2753,2650,0,0,0,0,0,0,28.83,24.44,28.83
$GC,556,-1.15,-97.8,1424,687,2692,2639,46.7,-8.8,102,562,0.00,2.45,0.00,0.000,1030,0.000,0.034,2367,2130,2701,2753,2649,0,0,0,0,0,0,28.83,24.51,28.83
$GC,685,-1.15,-97.8,2367,2130,2753,2650,57.6,-8.6,127,691,0.00,2.45,0.00,0.000,260,0.000,0.054,2367,3531,2701,2754,2649,0,0,0,0,0,0,28.83,24.44,28.83
$GC,865,-1.15,-97.8,2367,3531,2753,2649,72.9,-8.5,162,872,0.00,2.45,0.00,0.000,1030,0.000,0.036,2367,2094,2702,2754,2650,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1058,-1.15,-97.8,2367,2094,2754,2649,85.4,-7.1,199,1064,0.00,2.45,0.00,0.000,516,0.000,0.053,2367,681,2701,2753,2650,0,0,0,0,0,0,28.83,24.51,28.83
$GC,1272,-1.15,-97.8,1424,681,2693,2639,104.2,-9.1,241,1278,0.00,2.45,0.00,0.000,1030,0.000,0.034,2367,2137,2701,2754,2649,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1462,-1.15,-97.8,1408,2135,2693,2639,119.5,-7.4,278,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2137,2701,2753,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1652,-1.15,-97.8,2367,2137,2754,2649,132.7,-7.5,315,1659,0.00,2.53,0.00,0.000,516,0.000,0.051,2367,684,2701,2754,2649,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1762,-1.15,-97.8,2367,684,2754,2650,140.2,-6.2,336,1768,0.00,2.45,0.00,0.000,1030,0.000,0.034,2366,2134,2702,2754,2650,0,0,0,0,0,0,28.83,24.61,28.83
$GC,1954,-1.15,-97.8,2367,2134,2753,2650,151.6,-6.8,373,1960,0.00,2.42,0.00,0.000,260,0.000,0.056,2367,3527,2702,2754,2650,0,0,0,0,0,0,28.83,24.54,28.83
$GC,2023,-1.15,-97.8,2366,3527,2754,2649,156.1,-6.3,386,2030,0.00,2.45,0.00,0.000,1030,0.000,0.038,2367,2092,2701,2754,2649,0,0,0,0,0,0,28.83,24.62,28.83
$GC,2214,-1.15,-97.8,2367,2093,2754,2649,169.3,-7.3,423,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2092,2701,2754,2649,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2340,begin apogee
$GC,2347,-0.30,0.0,2367,2007,2754,2649,178.3,-7.3,448,2430,0.95,0.05,73.95,0.597,10246,0.122,0.074,2549,2060,2300,2369,2231,0,0,0,0,0,0,24.53,24.03,23.66
$STATE,2431,end apogee,CONTROL_FINISHED_OK
$STATE,2431,begin climb
$GC,2433,1.15,97.8,2549,2060,2369,2231,180.5,0.0,463,2517,1.55,2.62,74.43,0.588,10756,0.093,0.054,2870,606,1900,1975,1826,0,0,0,0,0,0,24.18,24.06,23.64
$GC,2566,1.15,97.8,2870,605,1974,1825,168.3,13.3,487,2573,0.00,2.45,0.00,0.000,1030,0.000,0.034,2870,2049,1899,1974,1825,0,0,0,0,0,0,28.83,24.34,28.83
$GC,2756,1.15,97.8,2870,2049,1974,1821,145.0,12.7,524,2763,0.00,2.55,0.00,0.000,516,0.000,0.054,2870,610,1897,1974,1821,0,0,0,0,0,0,28.83,24.39,28.83
$GC,2800,1.15,97.8,1824,609,1914,1812,138.8,14.4,532,2807,0.00,2.45,0.00,0.000,1030,0.000,0.034,2870,2049,1897,1974,1821,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2990,1.15,97.8,2870,2049,1974,1819,111.4,15.7,569,2997,0.00,2.55,0.00,0.000,516,0.000,0.054,2870,604,1896,1973,1820,0,0,0,0,0,0,28.83,24.42,28.83
$GC,3099,1.15,97.8,2870,603,1973,1819,93.2,14.6,590,3106,0.00,2.47,0.00,0.000,1030,0.000,0.035,2871,2055,1896,1973,1819,0,0,0,0,0,0,28.83,24.49,28.83
$GC,3291,1.15,97.8,2870,2055,1973,1819,66.5,15.1,627,3298,0.00,2.55,0.00,0.000,516,0.000,0.054,2870,609,1895,1972,1819,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3443,1.15,97.8,2870,609,1973,1818,48.8,10.7,656,3449,0.00,2.45,0.00,0.000,1030,0.000,0.035,2870,2048,1896,1974,1819,0,0,0,0,0,0,28.83,24.53,28.83
$GC,3572,1.15,97.8,2870,2048,1973,1818,36.7,10.2,681,3579,0.00,2.45,0.00,0.000,260,0.000,0.053,2870,3446,1895,1973,1818,0,0,0,0,0,0,28.83,24.47,28.83
$GC,3596,1.15,97.8,1824,3444,1913,1809,34.6,9.1,685,3602,0.00,2.47,0.00,0.000,1030,0.000,0.037,2869,2007,1895,1972,1818,0,0,0,0,0,0,28.83,24.52,28.83
$GC,3725,1.15,97.8,2870,2006,1972,1818,21.8,9.5,710,3732,0.00,2.55,0.00,0.000,260,0.000,0.051,2870,3455,1894,1972,1817,0,0,0,0,0,0,28.83,24.49,28.83
$GC,3750,1.15,97.8,2870,3455,1972,1817,19.3,9.8,714,3757,0.00,2.47,0.00,0.000,1030,0.000,0.038,2870,2016,1894,1972,1817,0,0,0,0,0,0,28.83,24.53,28.83
$GC,3882,1.18,119.5,2870,2016,1972,1817,9.3,6.8,739,3904,0.00,0.00,16.98,0.484,8198,0.000,0.000,2870,2016,1811,1890,1732,0,0,0,0,0,0,28.83,28.83,23.89
$STATE,3965,end climb,SURFACE_DEPTH_REACHED
$STATE,3965,begin surface coast
$FINISH,0.3,1.020511
$STATE,4003,end surface coast,CONTROL_FINISHED_OK
$STATE,4003,begin surface
$SM_CCo,4024,97.20,0.396,1,0,1077,300.00
$SM_GC,0.87,10.27,0.20,97.20,0.045,0.061,0.396,596,2147,1077,-9.28,-0.23,300.00,0,0,0,0,1,0,24.49,24.55,23.75
$IRIDIUM_FIX,4719.74,-12234.89,200215,101007
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.05
$INTERNAL_PRESSURE,9.1425
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,23.6,1.153
$10V_AH,10.4,0.874
$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,22.950,60.175,165.350,97.200,0.000,33.821,47.282,577.381,0.000,0.000,38.375,1718.646,838.765,383.960,1789.745,204.391,33.223,969.292,0.000,1128.597,0.000,0.536,0.000
$DEVICE_MAMPS,160.650,116.280,596.700,396.270,0.000,54.320,160.000,223.000,420.000,0.000,30.710,12.060,2.190,12.060,38.280,45.020,64.490,14.900,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,538.166,648.821,653.812,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,11.240,68.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323316
$DATA_FILE_SIZE,53622,762
$CAP_FILE_SIZE,80815,0
$CFSIZE,260165632,258740224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200215,120034,4742.834,-12225.268,21,1.8,21,18.2