version: 66.10
glider: 130
mission: 18
dive: 185
start: 5 6 113 9 5 20
data:
$ID,130
$MISSION,18
$DIVE,185
$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,-116481.4
$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,2775
$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
$GPS1,060513,085435,4436.925,-12443.462,82,1.8,83,17.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-64.7
$GPS2,060513,090454,4436.828,-12443.380,33,1.8,33,17.5
$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,49.1,10595,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.20,-116.8,0.0,0.0,0,73,0.00,0.00,-54.60,0.000,2,0.000,0.000,644,1833,2504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.20,-116.8,2.6,-5.0,7,111,11.07,2.47,-17.10,0.000,4,0.152,0.056,2623,3232,3254,0,0,0,0,0,0,24.47,24.57,24.84
$GC,276,-1.20,-116.8,36.4,-14.5,38,285,0.00,2.55,0.00,0.000,6,0.000,0.044,2623,1786,3255,0,0,0,0,0,0,28.83,24.64,28.83
$GC,378,-1.20,-116.8,49.9,-13.1,54,386,0.00,2.58,0.00,0.000,4,0.000,0.068,2623,384,3255,0,0,0,0,0,0,28.83,24.61,28.83
$GC,410,-1.20,-116.8,54.0,-13.2,59,416,0.00,2.42,0.00,0.000,6,0.000,0.034,2618,1847,3256,0,0,0,0,0,0,28.83,24.69,28.83
$GC,571,-1.20,-116.8,72.3,-11.1,90,580,0.00,2.40,0.00,0.000,4,0.000,0.044,2623,3226,3255,0,0,0,0,0,0,28.83,24.68,28.83
$GC,614,-1.20,-116.8,76.8,-10.1,97,621,0.00,2.47,0.00,0.000,6,0.000,0.045,2623,1791,3256,0,0,0,0,0,0,28.83,24.67,28.83
$GC,776,-1.20,-116.8,94.1,-11.5,128,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1790,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,941,-1.20,-116.8,111.9,-10.1,159,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1789,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1106,-1.20,-116.8,131.5,-11.5,190,1115,0.00,2.50,0.00,0.000,4,0.000,0.043,2623,3225,3256,0,0,0,0,0,0,28.83,24.71,28.83
$GC,1151,-1.20,-116.8,135.9,-11.0,197,1158,0.00,2.47,0.00,0.000,6,0.000,0.045,2624,1789,3255,0,0,0,0,0,0,28.83,24.70,28.83
$GC,1338,-1.20,-116.8,156.4,-11.8,223,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1789,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1546,-1.20,-116.8,179.8,-11.2,227,1552,0.00,2.50,0.00,0.000,4,0.000,0.068,2624,388,3255,0,0,0,0,0,0,28.83,24.69,28.83
$GC,1603,-1.20,-116.8,184.8,-10.6,228,1607,0.00,2.42,0.00,0.000,6,0.000,0.036,2611,1839,3255,0,0,0,0,0,0,28.83,24.76,28.83
$GC,1796,-1.20,-116.8,204.3,-9.6,232,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1844,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2004,-1.20,-116.8,224.8,-9.9,236,2010,0.00,2.60,0.00,0.000,4,0.000,0.068,2624,387,3256,0,0,0,0,0,0,28.83,24.71,28.83
$GC,2088,-1.20,-116.8,230.5,-10.1,237,2093,0.00,2.42,0.00,0.000,6,0.000,0.036,2610,1840,3255,0,0,0,0,0,0,28.83,24.78,28.83
$STATE,2202,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2202,begin apogee
$GC,2209,-0.36,0.0,245.9,-10.5,240,2312,0.90,0.00,98.47,0.656,6,0.094,0.000,2806,1489,2774,0,0,0,0,0,0,24.72,28.83,23.76
$STATE,2313,end apogee,CONTROL_FINISHED_OK
$STATE,2313,begin climb
$GC,2317,1.20,116.8,249.2,0.0,242,2422,1.60,0.00,100.00,0.638,6,0.067,0.000,3147,1489,2297,0,0,0,0,0,0,24.25,28.83,23.75
$GC,2607,1.20,116.8,222.9,11.3,248,2613,0.00,2.47,0.00,0.000,4,0.000,0.041,3147,2930,2290,0,0,0,0,0,0,28.83,24.54,28.83
$GC,2636,1.20,116.8,222.9,11.3,248,2640,0.00,2.55,0.00,0.000,6,0.000,0.051,3147,1483,2290,0,0,0,0,0,0,28.83,24.53,28.83
$GC,2863,1.20,116.8,195.9,10.5,253,2868,0.00,2.28,0.00,0.000,4,0.000,0.080,3147,249,2289,0,0,0,0,0,0,28.83,24.53,28.83
$GC,2894,1.20,116.8,195.9,10.5,253,2898,0.00,2.15,0.00,0.000,6,0.000,0.037,3147,1529,2288,0,0,0,0,0,0,28.83,24.64,28.83
$GC,3116,1.20,116.8,171.5,9.7,258,3121,0.00,2.38,0.00,0.000,4,0.000,0.077,3147,242,2287,0,0,0,0,0,0,28.83,24.56,28.83
$GC,3189,1.20,116.8,166.3,9.9,259,3193,0.00,2.17,0.00,0.000,6,0.000,0.037,3147,1541,2287,0,0,0,0,0,0,28.83,24.68,28.83
$GC,3384,1.20,116.8,145.5,10.4,266,3393,0.00,2.42,0.00,0.000,4,0.000,0.077,3147,248,2287,0,0,0,0,0,0,28.83,24.58,28.83
$GC,3407,1.20,116.8,143.1,10.7,269,3413,0.00,2.15,0.00,0.000,6,0.000,0.037,3147,1537,2287,0,0,0,0,0,0,28.83,24.69,28.83
$GC,3569,1.20,116.8,127.2,9.2,300,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1536,2287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3735,1.20,116.8,113.6,8.6,331,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1537,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3896,1.20,116.8,98.9,8.1,362,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1537,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4059,1.22,130.1,86.9,7.1,393,4080,0.00,2.45,10.70,0.517,4,0.000,0.041,3147,2928,2243,0,0,0,0,0,0,28.83,24.50,24.16
$GC,4130,1.22,130.1,81.5,7.8,405,4136,0.00,2.53,0.00,0.000,6,0.000,0.052,3147,1487,2243,0,0,0,0,0,0,28.83,24.59,28.83
$GC,4292,1.32,217.1,73.1,3.8,436,4374,0.12,2.42,75.85,0.548,4,0.061,0.078,3191,240,1889,0,0,0,0,0,0,24.75,24.13,23.84
$GC,4416,1.32,217.1,63.5,11.6,455,4423,0.00,2.17,0.00,0.000,6,0.000,0.037,3191,1529,1887,0,0,0,0,0,0,28.83,24.51,28.83
$GC,4587,1.32,217.1,43.8,10.5,486,4596,0.00,2.42,0.00,0.000,4,0.000,0.042,3192,2925,1885,0,0,0,0,0,0,28.83,24.60,28.83
$GC,4629,1.32,217.1,38.5,11.6,492,4638,0.00,2.55,0.00,0.000,6,0.000,0.052,3192,1498,1885,0,0,0,0,0,0,28.83,24.60,28.83
$GC,4730,1.32,217.1,28.0,10.9,508,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1498,1884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4832,1.32,217.1,18.0,10.4,524,4841,0.00,2.50,0.00,0.000,4,0.000,0.041,3191,2931,1884,0,0,0,0,0,0,28.83,24.65,28.83
$GC,4850,1.32,217.1,16.1,10.4,526,4859,0.00,2.58,0.00,0.000,6,0.000,0.053,3192,1491,1883,0,0,0,0,0,0,28.83,24.63,28.83
$GC,4951,1.38,260.5,9.9,5.7,542,5015,0.00,2.38,48.97,0.408,4,0.000,0.078,3191,250,1712,0,0,0,0,1,0,28.83,24.18,23.91
$STATE,5076,end climb,SURFACE_DEPTH_REACHED
$STATE,5076,begin surface coast
$FINISH,0.0,1.008431
$STATE,5145,end surface coast,CONTROL_FINISHED_OK
$STATE,5145,begin surface
$SM_CCo,5168,85.88,0.064,0,0,1143,400.08
$SM_GC,0.99,10.90,2.75,85.88,0.029,0.035,0.064,644,1834,1143,-10.26,-0.23,400.08,11,0,0,0,0,0,24.59,24.63,24.49
$IRIDIUM_FIX,4453.52,-12652.80,060513,080809
$TT8_MAMPS,0.025466,0.025466
$HUMID,49.09
$INTERNAL_PRESSURE,8.97374
$TCM_TEMP,12.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,194.1,65.2
$24V_AH,23.7,22.264
$10V_AH,10.2,23.022
$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,24.600,73.800,334.000,85.875,0.000,58.712,77.693,266.376,5.500,0.000,35.914,1347.218,1623.740,469.202,2235.281,199.475,0.000,1148.251,0.000,1782.472,0.000,36.775,0.000
$DEVICE_MAMPS,152.235,79.560,656.370,64.260,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,411.485,428.145,1236.226,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345912
$DATA_FILE_SIZE,33643,571
$CAP_FILE_SIZE,81172,0
$CFSIZE,260165632,247570432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,11,0,1,0,0
$GPS,060513,103423,4436.603,-12442.819,36,1.7,55,17.5