version: 66.10
glider: 130
mission: 18
dive: 4
start: 4 4 113 2 23 39
data:
$ID,130
$MISSION,18
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$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,400
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51990
$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,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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-116253.26
$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,2895
$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,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,240
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,1988
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,30
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,516
$VBD_MAX,3960
$C_VBD,2700
$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
$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,-9.9334097
$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,60
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$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,0.0044015422
$SEABIRD_T_H,0.00063880393
$SEABIRD_T_I,2.4712466e-05
$SEABIRD_T_J,2.5684481e-06
$SEABIRD_C_G,-9.7931423
$SEABIRD_C_H,1.1029133
$SEABIRD_C_I,-0.001068091
$SEABIRD_C_J,0.00016957214
$GPS1,040413,021305,4439.615,-12427.953,17,0.9,33,17.5
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-68.0
$GPS2,040413,022313,4439.668,-12428.055,10,1.4,10,17.5
$SPEED_LIMITS,0.069,0.252
$TGT_NAME,oNH23
$TGT_LATLONG,4439.100,-12436.000
$TGT_RADIUS,1000.000
$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,246.8,10521,-14.0,-8.250
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,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,-1.18,-146.0,0.0,0.0,0,57,0.00,0.00,-39.42,0.000,2,0.000,0.000,646,2001,2483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-1.18,-146.0,2.1,-5.1,6,103,11.07,2.58,-22.80,0.000,4,0.151,0.080,2635,576,3297,0,0,0,0,0,0,24.53,24.63,24.97
$GC,344,-1.14,-146.0,35.8,-12.8,59,351,0.00,2.38,0.00,0.000,6,0.000,0.042,2562,1988,3298,0,0,0,0,0,0,28.83,24.79,28.83
$GC,430,-1.10,-146.0,45.9,-12.0,75,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1990,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,515,-1.10,-146.0,56.7,-12.4,91,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1991,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,681,-1.08,-146.0,73.3,-8.9,122,690,0.12,2.55,0.00,0.000,4,0.113,0.066,2661,584,3298,0,0,0,0,0,0,24.79,24.76,28.83
$GC,804,-1.08,-146.0,84.6,-9.4,145,810,0.00,2.35,0.00,0.000,6,0.000,0.042,2661,1992,3298,0,0,0,0,0,0,28.83,24.84,28.83
$GC,966,-1.08,-146.0,98.1,-8.0,176,975,0.00,2.55,0.00,0.000,4,0.000,0.067,2661,585,3298,0,0,0,0,0,0,28.83,24.80,28.83
$STATE,980,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,980,begin apogee
$GC,988,-0.36,0.0,99.6,-8.3,178,1117,0.75,0.00,120.32,0.558,6,0.095,0.000,2812,1805,2698,0,0,0,0,0,0,24.78,28.83,23.91
$STATE,1118,end apogee,CONTROL_FINISHED_OK
$STATE,1118,begin climb
$GC,1121,1.18,146.0,103.7,0.0,197,1247,1.55,0.00,120.62,0.544,6,0.076,0.000,3149,1805,2103,0,0,0,0,0,0,24.41,28.83,23.89
$GC,1404,1.15,146.0,84.2,8.9,246,1413,0.00,2.62,0.00,0.000,4,0.000,0.073,3148,397,2097,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1460,1.10,146.0,78.5,10.2,256,1469,0.00,2.42,0.00,0.000,6,0.000,0.044,3148,1797,2097,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1625,1.15,186.0,65.0,6.7,287,1667,0.00,2.60,34.53,0.522,4,0.000,0.073,3148,397,1938,0,0,0,0,0,0,28.83,24.32,23.96
$GC,1743,1.12,186.0,56.0,8.8,307,1750,0.00,2.38,0.00,0.000,6,0.000,0.043,3148,1802,1936,0,0,0,0,0,0,28.83,24.62,28.83
$GC,1904,1.18,231.9,42.4,6.5,338,1952,0.00,0.00,39.75,0.514,6,0.000,0.000,3148,1802,1752,0,0,0,0,0,0,28.83,28.83,23.96
$GC,2030,1.23,273.9,34.0,6.6,360,2072,0.00,2.67,36.92,0.503,4,0.000,0.074,3148,397,1582,0,0,0,0,0,0,28.83,24.31,23.96
$GC,2184,1.23,273.9,19.8,9.5,387,2190,0.00,2.40,0.00,0.000,6,0.000,0.043,3148,1801,1581,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2271,1.27,287.2,12.5,7.7,403,2286,0.10,0.00,12.57,0.467,6,0.077,0.000,3180,1801,1528,0,0,0,0,0,0,24.75,28.83,24.10
$GC,2364,1.28,294.9,4.5,8.0,420,2379,0.00,2.58,7.97,0.434,4,0.000,0.072,3180,396,1496,0,0,0,0,0,0,28.83,24.48,24.14
$STATE,2386,end climb,SURFACE_DEPTH_REACHED
$STATE,2386,begin surface coast
$FINISH,-0.1,1.009259
$STATE,2431,end surface coast,CONTROL_FINISHED_OK
$STATE,2431,begin surface
$SM_CCo,2455,2.95,0.070,0,0,1476,300.00
$SM_GC,1.89,11.15,2.78,2.95,0.037,0.041,0.070,649,1985,1476,-10.28,-1.16,300.00,5,0,0,0,0,0,24.63,24.68,24.62
$IRIDIUM_FIX,4414.16,-12418.23,040413,020216
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.70
$INTERNAL_PRESSURE,9.0421
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,44.2
$24V_AH,23.9,2.467
$10V_AH,10.3,2.488
$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,24.750,34.950,372.700,2.950,0.000,52.254,88.204,184.463,1.000,0.000,12.971,919.170,136.718,352.173,1563.203,112.697,0.000,826.755,0.000,1111.075,0.000,8.596,0.000
$DEVICE_MAMPS,151.470,79.560,558.450,70.380,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,313.054,314.494,742.297,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,325416
$DATA_FILE_SIZE,23520,432
$CAP_FILE_SIZE,51154,0
$CFSIZE,260165632,258244608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,0,0,0,0
$GPS,040413,030536,4439.635,-12428.441,17,1.2,17,17.5