version: 66.10
glider: 130
mission: 18
dive: 179
start: 5 5 113 22 36 38
data:
$ID,130
$MISSION,18
$DIVE,179
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,30
$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,430
$T_MISSION,537
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$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,400
$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,-116474.38
$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,2892
$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,1500
$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,516
$VBD_MAX,3960
$C_VBD,2800
$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,90
$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
$GPS1,050513,223112,4436.569,-12448.530,30,1.1,30,17.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-63.8
$GPS2,050513,223612,4436.542,-12448.629,9,1.1,9,17.5
$SPEED_LIMITS,0.110,0.223
$TGT_NAME,iNH23
$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,56.6,17300,-14.8,-7.674
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.20,-116.8,0.0,0.0,0,64,0.00,0.00,-46.30,0.000,2,0.000,0.000,645,1783,2303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-1.20,-116.8,2.2,-3.9,6,117,10.95,2.60,-26.02,0.000,4,0.148,0.082,2621,387,3279,0,0,0,0,0,0,24.45,24.52,24.84
$GC,150,-1.20,-116.8,12.8,-17.7,17,159,0.00,2.47,0.00,0.000,6,0.000,0.036,2622,1836,3280,0,0,0,0,0,0,28.83,24.62,28.83
$GC,251,-1.20,-116.8,31.8,-17.7,33,259,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1836,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,351,-1.20,-116.8,47.6,-14.9,49,359,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1836,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,439,-1.20,-116.8,59.7,-13.1,65,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1836,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,599,-1.20,-116.8,78.5,-12.0,96,607,0.00,2.67,0.00,0.000,4,0.000,0.067,2621,380,3280,0,0,0,0,0,0,28.83,24.63,28.83
$GC,655,-1.20,-116.8,85.6,-11.8,106,663,0.00,2.47,0.00,0.000,6,0.000,0.034,2614,1840,3280,0,0,0,0,0,0,28.83,24.71,28.83
$GC,823,-1.20,-116.8,105.9,-12.9,137,829,0.00,2.38,0.00,0.000,4,0.000,0.043,2621,3233,3280,0,0,0,0,0,0,28.83,24.68,28.83
$GC,894,-1.20,-116.8,115.6,-14.7,150,903,0.00,2.55,0.00,0.000,6,0.000,0.047,2621,1786,3280,0,0,0,0,0,0,28.83,24.68,28.83
$GC,1063,-1.20,-116.8,133.4,-9.6,181,1070,0.00,2.53,0.00,0.000,4,0.000,0.069,2621,384,3280,0,0,0,0,0,0,28.83,24.65,28.83
$GC,1133,-1.20,-116.8,141.0,-10.8,194,1142,0.00,2.47,0.00,0.000,6,0.000,0.034,2621,1834,3280,0,0,0,0,0,0,28.83,24.73,28.83
$GC,1288,-1.20,-116.8,154.8,-8.6,214,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1836,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1497,-1.20,-116.8,173.1,-8.8,218,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1836,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1705,-1.20,-116.8,191.8,-9.0,222,1711,0.00,2.60,0.00,0.000,4,0.000,0.069,2621,384,3280,0,0,0,0,0,0,28.83,24.69,28.83
$GC,1759,-1.20,-116.8,197.1,-9.3,223,1764,0.00,2.40,0.00,0.000,6,0.000,0.035,2564,1834,3280,0,0,0,0,0,0,28.83,24.77,28.83
$GC,1966,-1.20,-116.8,217.0,-9.5,227,1971,0.00,2.60,0.00,0.000,4,0.000,0.069,2621,385,3280,0,0,0,0,0,0,28.83,24.70,28.83
$GC,2037,-1.20,-116.8,222.3,-9.7,228,2042,0.00,2.42,0.00,0.000,6,0.000,0.035,2609,1838,3280,0,0,0,0,0,0,28.83,24.77,28.83
$GC,2271,-1.20,-116.8,245.0,-8.8,233,2276,0.00,2.60,0.00,0.000,4,0.000,0.069,2621,387,3280,0,0,0,0,0,0,28.83,24.70,28.83
$GC,2292,-1.20,-116.8,245.0,-8.8,233,2296,0.00,2.42,0.00,0.000,6,0.000,0.036,2609,1843,3280,0,0,0,0,0,0,28.83,24.77,28.83
$GC,2581,-1.20,-116.8,272.5,-8.9,237,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1848,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2886,-1.20,-116.8,302.5,-9.5,240,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1848,3280,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3092,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3092,begin apogee
$GC,3099,-0.36,0.0,321.7,-9.5,242,3202,0.93,0.00,99.10,0.711,6,0.090,0.000,2809,1490,2800,0,0,0,0,0,0,24.73,28.83,23.72
$STATE,3203,end apogee,CONTROL_FINISHED_OK
$STATE,3203,begin climb
$GC,3208,1.20,116.8,325.2,0.0,243,3314,1.60,0.00,100.80,0.689,6,0.067,0.000,3149,1490,2323,0,0,0,0,0,0,24.24,28.83,23.69
$GC,3604,1.20,116.8,297.5,8.3,247,3609,0.00,2.47,0.00,0.000,4,0.000,0.043,3150,2927,2315,0,0,0,0,0,0,28.83,24.56,28.83
$GC,3645,1.20,116.8,297.5,8.3,247,3649,0.00,2.53,0.00,0.000,6,0.000,0.053,3150,1493,2314,0,0,0,0,0,0,28.83,24.55,28.83
$GC,4011,1.20,120.4,266.9,7.5,251,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1492,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4321,1.23,143.5,246.8,6.6,254,4349,0.00,2.35,22.85,0.639,4,0.000,0.080,3150,242,2214,0,0,0,0,0,0,28.83,24.17,23.84
$GC,4370,1.27,172.8,244.0,6.4,255,4404,0.00,2.15,26.90,0.635,6,0.000,0.040,3150,1519,2094,0,0,0,0,0,0,28.83,24.46,23.77
$GC,4625,1.28,185.6,225.6,7.1,260,4640,0.10,0.00,12.25,0.594,6,0.070,0.000,3179,1519,2043,0,0,0,0,0,0,24.68,28.83,23.97
$GC,4833,1.28,185.6,204.0,10.4,264,4839,0.00,2.35,0.00,0.000,4,0.000,0.079,3179,241,2040,0,0,0,0,0,0,28.83,24.53,28.83
$GC,4918,1.28,185.6,197.5,11.3,265,4922,0.00,2.17,0.00,0.000,6,0.000,0.039,3179,1534,2039,0,0,0,0,0,0,28.83,24.65,28.83
$GC,5138,1.28,185.6,168.1,11.1,270,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1535,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5346,1.28,185.6,146.9,10.1,274,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1535,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5511,1.28,185.6,129.7,10.8,305,5518,0.00,2.40,0.00,0.000,4,0.000,0.079,3179,239,2038,0,0,0,0,0,0,28.83,24.60,28.83
$GC,5547,1.28,185.6,125.3,11.3,311,5554,0.00,2.17,0.00,0.000,6,0.000,0.039,3179,1533,2038,0,0,0,0,0,0,28.83,24.71,28.83
$GC,5711,1.28,185.6,108.5,10.3,342,5720,0.00,2.42,0.00,0.000,4,0.000,0.080,3179,245,2038,0,0,0,0,0,0,28.83,24.61,28.83
$GC,5805,1.28,185.6,97.5,12.6,359,5812,0.00,2.15,0.00,0.000,6,0.000,0.039,3179,1532,2037,0,0,0,0,0,0,28.83,24.73,28.83
$GC,5966,1.28,185.6,80.9,11.0,390,5975,0.00,2.42,0.00,0.000,4,0.000,0.044,3179,2929,2037,0,0,0,0,0,0,28.83,24.70,28.83
$GC,5992,1.28,185.6,78.2,9.3,394,6001,0.00,2.58,0.00,0.000,6,0.000,0.054,3179,1489,2037,0,0,0,0,0,0,28.83,24.68,28.83
$GC,6157,1.28,185.6,63.1,8.4,425,6163,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1488,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6322,1.28,185.6,47.9,8.3,456,6331,0.00,2.33,0.00,0.000,4,0.000,0.080,3179,245,2037,0,0,0,0,0,0,28.83,24.65,28.83
$GC,6400,1.29,186.6,41.3,7.6,468,6409,0.00,2.20,0.00,0.000,6,0.000,0.039,3179,1532,2036,0,0,0,0,0,0,28.83,24.75,28.83
$GC,6502,1.36,245.4,34.9,5.0,484,6557,0.00,0.00,52.25,0.526,6,0.000,0.000,3179,1531,1798,0,0,0,0,0,0,28.83,28.83,23.88
$GC,6650,1.39,268.2,26.3,6.7,506,6699,0.00,2.47,32.25,0.357,4,0.000,0.077,3179,248,1705,0,0,0,0,1,0,28.83,24.20,23.94
$GC,6768,1.41,286.0,18.4,6.9,523,6809,0.00,2.20,27.83,0.327,6,0.000,0.039,3179,1525,1632,0,0,0,0,1,0,28.83,24.58,23.98
$GC,6901,1.44,312.0,9.2,6.5,543,6950,0.12,2.42,34.83,0.362,4,0.060,0.040,3220,2928,1527,0,0,0,0,1,0,24.63,24.26,23.94
$STATE,6987,end climb,SURFACE_DEPTH_REACHED
$STATE,6987,begin surface coast
$FINISH,0.2,1.023644
$STATE,7044,end surface coast,CONTROL_FINISHED_OK
$STATE,7044,begin surface
$SM_CCo,7068,55.47,0.065,0,0,1168,400.08
$SM_GC,0.96,11.40,2.05,55.47,0.034,0.052,0.065,643,1788,1168,-10.28,0.34,400.08,0,0,0,0,0,0,24.58,24.54,24.48
$IRIDIUM_FIX,4414.16,-12448.39,050513,202046
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.21
$INTERNAL_PRESSURE,8.96397
$TCM_TEMP,12.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,272.5,60.8
$24V_AH,23.7,21.842
$10V_AH,10.2,22.541
$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,25.100,77.700,409.050,55.475,0.000,28.267,38.643,128.905,9.000,0.000,11.771,1364.996,3333.370,493.523,2033.138,200.345,0.000,1230.796,0.000,1820.989,0.000,60.366,0.000
$DEVICE_MAMPS,147.645,81.855,711.450,65.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.439,425.474,1246.535,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345928
$DATA_FILE_SIZE,30343,564
$CAP_FILE_SIZE,85513,0
$CFSIZE,260165632,247812096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,060513,003726,4436.590,-12447.576,71,4.8,90,17.5