version: 66.10
glider: 130
mission: 17
dive: 2
start: 7 31 112 19 13 7
data:
$ID,130
$MISSION,17
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51923
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-115626.7
$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,3010
$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,1900
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$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,2115
$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,-9.4193525
$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,100
$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
$GPS1,310712,190819,4742.991,-12224.965,12,1.8,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-65.9
$GPS2,310712,191212,4742.934,-12224.971,15,1.5,15,18.2
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.055,0.254
$KALMAN_X,-47.2,-47.2,-47.2,-43.1,-131.4
$KALMAN_Y,-168.0,-168.0,-168.0,66.0,-468.0
$MHEAD_RNG_PITCHd_Wd,354.1,1801,-17.5,-10.000
$D_GRID,179
$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,-1.43,-146.6,0.0,0.0,0,73,0.00,0.00,-55.20,0.000,2,0.000,0.000,643,1896,2015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-1.43,-146.6,2.2,-4.2,7,112,11.43,2.50,-17.42,0.000,4,0.153,0.070,2689,511,2714,0,0,0,0,0,0,24.59,24.70,25.06
$GC,194,-1.38,-146.6,8.7,-8.4,24,203,0.00,2.35,0.00,0.000,6,0.000,0.034,2689,1920,2716,0,0,0,0,0,0,28.83,24.83,28.83
$GC,278,-1.36,-146.6,17.4,-10.5,37,287,0.12,0.00,0.00,0.000,6,0.129,0.000,2712,1919,2716,0,0,0,0,0,0,24.75,28.83,28.83
$GC,361,-1.36,-146.6,25.8,-10.1,50,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1920,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,444,-1.36,-146.6,34.4,-10.2,63,452,0.00,2.35,0.00,0.000,4,0.000,0.047,2713,3283,2717,0,0,0,0,0,0,28.83,24.84,28.83
$GC,539,-1.36,-146.6,43.6,-9.5,78,547,0.00,2.35,0.00,0.000,6,0.000,0.041,2712,1918,2716,0,0,0,0,0,0,28.83,24.86,28.83
$GC,622,-1.36,-146.6,51.4,-9.1,91,628,0.00,2.47,0.00,0.000,4,0.000,0.060,2713,500,2716,0,0,0,0,0,0,28.83,24.81,28.83
$GC,672,-1.36,-146.6,56.7,-11.0,99,679,0.00,2.30,0.00,0.000,6,0.000,0.035,2713,1907,2716,0,0,0,0,0,0,28.83,24.89,28.83
$GC,819,-1.36,-146.6,71.2,-8.6,124,827,0.00,2.38,0.00,0.000,4,0.000,0.049,2712,3283,2716,0,0,0,0,0,0,28.83,24.88,28.83
$GC,866,-1.36,-146.6,75.2,-8.8,131,872,0.00,2.33,0.00,0.000,6,0.000,0.041,2713,1899,2716,0,0,0,0,0,0,28.83,24.89,28.83
$GC,1012,-1.36,-146.6,88.3,-8.5,156,1021,0.00,2.50,0.00,0.000,4,0.000,0.063,2713,501,2716,0,0,0,0,0,0,28.83,24.84,28.83
$GC,1082,-1.36,-146.6,94.6,-10.2,167,1089,0.00,2.30,0.00,0.000,6,0.000,0.037,2713,1898,2716,0,0,0,0,0,0,28.83,24.93,28.83
$GC,1234,-1.36,-146.6,109.2,-10.1,192,1243,0.00,2.40,0.00,0.000,4,0.000,0.050,2713,3289,2715,0,0,0,0,0,0,28.83,24.91,28.83
$GC,1293,-1.36,-146.6,114.7,-9.6,201,1300,0.00,2.35,0.00,0.000,6,0.000,0.043,2713,1899,2715,0,0,0,0,0,0,28.83,24.91,28.83
$GC,1445,-1.36,-146.6,128.0,-8.8,226,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1900,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1597,-1.36,-146.6,142.0,-9.4,251,1604,0.00,2.40,0.00,0.000,4,0.000,0.050,2713,3306,2714,0,0,0,0,0,0,28.83,24.92,28.83
$GC,1659,-1.36,-146.6,148.2,-9.6,261,1666,0.00,2.38,0.00,0.000,6,0.000,0.044,2713,1899,2715,0,0,0,0,0,0,28.83,24.92,28.83
$STATE,1676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1676,begin apogee
$GC,1683,-0.36,0.0,150.3,-9.4,264,1812,1.02,0.00,123.43,0.558,6,0.095,0.000,2923,1792,2115,0,0,0,0,0,0,24.84,28.83,23.96
$STATE,1813,end apogee,CONTROL_FINISHED_OK
$STATE,1813,begin climb
$GC,1816,1.43,146.6,153.0,0.0,283,1951,1.83,2.55,125.25,0.539,4,0.074,0.066,3258,398,1515,0,0,0,0,0,0,24.41,24.27,23.92
$GC,1967,1.38,146.6,138.5,14.7,305,1974,0.00,2.38,0.00,0.000,6,0.000,0.037,3318,1806,1515,0,0,0,0,0,0,28.83,24.46,28.83
$GC,2116,1.35,146.6,115.1,15.1,330,2125,0.00,2.58,0.00,0.000,4,0.000,0.067,3318,406,1514,0,0,0,0,0,0,28.83,24.50,28.83
$GC,2152,1.30,146.6,109.1,16.7,335,2160,0.12,2.33,0.00,0.000,6,0.115,0.037,3295,1792,1513,0,0,0,0,0,0,24.53,24.58,28.83
$GC,2301,1.30,146.6,88.5,11.6,360,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1794,1513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2451,1.30,146.6,70.9,13.5,385,2457,0.00,2.50,0.00,0.000,4,0.000,0.067,3295,404,1513,0,0,0,0,0,0,28.83,24.60,28.83
$GC,2613,1.26,146.6,49.1,12.1,412,2622,0.00,2.38,0.00,0.000,6,0.000,0.038,3295,1796,1511,0,0,0,0,0,0,28.83,24.71,28.83
$GC,2696,1.27,155.1,40.1,9.6,425,2714,0.00,2.58,7.82,0.425,4,0.000,0.067,3295,404,1481,0,0,0,0,0,0,28.83,24.56,24.20
$GC,2741,1.25,155.1,35.2,11.3,431,2750,0.00,2.38,0.00,0.000,6,0.000,0.038,3295,1797,1481,0,0,0,0,0,0,28.83,24.69,28.83
$GC,2825,1.25,155.1,25.5,11.0,444,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1801,1481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2907,1.25,155.1,16.0,10.8,457,2916,0.00,2.55,0.00,0.000,4,0.000,0.067,3295,403,1481,0,0,0,0,0,0,28.83,24.68,28.83
$GC,3008,1.23,155.1,3.8,13.0,473,3017,0.00,2.38,0.00,0.000,6,0.000,0.038,3295,1798,1481,0,0,0,0,0,0,28.83,24.76,28.83
$STATE,3024,end climb,SURFACE_DEPTH_REACHED
$STATE,3024,begin surface coast
$FINISH,0.1,1.020037
$STATE,3050,end surface coast,CONTROL_FINISHED_OK
$STATE,3050,begin surface
$SM_CCo,3072,98.53,0.462,0,0,892,300.00
$SM_GC,0.86,11.62,0.15,98.53,0.036,0.070,0.462,645,1905,892,-10.82,-1.05,300.00,0,0,0,0,0,0,24.79,24.84,24.02
$IRIDIUM_FIX,4716.56,-12213.84,310712,191951
$TT8_MAMPS,0.025466,0.025466
$HUMID,53.11
$INTERNAL_PRESSURE,9.03233
$TCM_TEMP,15.00
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,130.5,66.2
$24V_AH,23.9,0.241
$10V_AH,10.5,0.174
$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,26.150,58.250,256.500,98.525,0.000,0.000,0.000,0.000,7.500,0.000,16.647,1067.626,238.195,421.808,1413.507,107.132,30.072,952.102,0.000,1402.778,0.000,15.021,0.000
$DEVICE_MAMPS,153.000,75.735,557.685,462.060,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,338.648,229.564,1093.591,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323524
$DATA_FILE_SIZE,30351,479
$CAP_FILE_SIZE,76263,0
$CFSIZE,260165632,258207744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310712,200649,4742.935,-12225.014,12,1.6,12,18.2