version: 66.10
glider: 130
mission: 17
dive: 5
start: 7 31 112 22 38 59
data:
$ID,130
$MISSION,17
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$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,60
$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,-115642.32
$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,3000
$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,27
$R_STBD_OVSHOOT,37
$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
$GPS1,310712,223035,4742.548,-12225.459,31,1.2,31,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-68.1
$GPS2,310712,223801,4742.479,-12225.456,10,1.6,10,18.2
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.097,0.241
$KALMAN_X,-828.0,-489.1,-146.3,672.0,-245.4
$KALMAN_Y,-2043.1,-1279.2,-410.5,2447.0,-528.8
$MHEAD_RNG_PITCHd_Wd,3.8,2755,-17.5,-10.000
$D_GRID,187
$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,-146.6,0.0,0.0,0,66,0.00,0.00,-47.60,0.000,2,0.000,0.000,646,1915,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-1.43,-146.6,2.5,-5.3,6,103,11.55,2.58,-12.40,0.000,4,0.158,0.073,2680,500,2713,0,0,0,0,0,0,24.44,24.54,24.89
$GC,304,-1.39,-146.6,32.6,-14.7,43,312,0.00,2.38,0.00,0.000,6,0.000,0.035,2680,1900,2715,0,0,0,0,0,0,28.83,24.70,28.83
$GC,387,-1.37,-146.6,42.7,-11.3,56,396,0.10,0.00,0.00,0.000,6,0.140,0.000,2695,1903,2714,0,0,0,0,0,0,24.66,28.83,28.83
$GC,470,-1.37,-146.6,51.3,-11.0,69,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1903,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,615,-1.37,-146.6,69.0,-12.2,94,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1902,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,764,-1.37,-146.6,88.0,-13.2,119,771,0.00,2.40,0.00,0.000,4,0.000,0.049,2695,3304,2715,0,0,0,0,0,0,28.83,24.73,28.83
$GC,837,-1.37,-146.6,96.8,-11.8,131,844,0.00,2.40,0.00,0.000,6,0.000,0.042,2695,1893,2715,0,0,0,0,0,0,28.83,24.75,28.83
$GC,985,-1.37,-146.6,112.8,-10.5,156,994,0.00,2.53,0.00,0.000,4,0.000,0.063,2695,497,2715,0,0,0,0,0,0,28.83,24.72,28.83
$GC,1048,-1.37,-146.6,119.8,-11.3,166,1058,0.00,2.38,0.00,0.000,6,0.000,0.036,2695,1910,2715,0,0,0,0,0,0,28.83,24.81,28.83
$GC,1205,-1.37,-146.6,135.5,-9.3,191,1212,0.00,2.50,0.00,0.000,4,0.000,0.062,2695,498,2715,0,0,0,0,0,0,28.83,24.73,28.83
$GC,1234,-1.37,-146.6,138.4,-9.1,195,1240,0.00,2.33,0.00,0.000,6,0.000,0.036,2695,1906,2715,0,0,0,0,0,0,28.83,24.82,28.83
$GC,1381,-1.37,-146.6,151.9,-8.1,220,1390,0.00,2.55,0.00,0.000,4,0.000,0.063,2695,499,2715,0,0,0,0,0,0,28.83,24.75,28.83
$GC,1425,-1.37,-146.6,156.0,-10.0,226,1433,0.00,2.35,0.00,0.000,6,0.000,0.036,2695,1891,2715,0,0,0,0,0,0,28.83,24.83,28.83
$GC,1575,-1.37,-146.6,172.0,-11.4,251,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1894,2714,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1645,begin apogee
$GC,1652,-0.36,0.0,180.3,-11.3,263,1786,1.10,0.00,124.25,0.580,6,0.106,0.000,2916,1789,2113,0,0,0,0,0,0,24.75,28.83,23.87
$STATE,1787,end apogee,CONTROL_FINISHED_OK
$STATE,1787,begin climb
$GC,1790,1.43,146.6,185.0,0.0,283,1926,1.80,2.62,126.10,0.559,4,0.074,0.067,3307,400,1516,0,0,0,0,0,0,24.36,24.20,23.84
$GC,1964,1.38,146.6,168.2,16.5,309,1971,0.00,2.35,0.00,0.000,6,0.000,0.036,3307,1795,1513,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2113,1.35,146.6,146.9,13.7,334,2122,0.00,2.58,0.00,0.000,4,0.000,0.068,3307,406,1511,0,0,0,0,0,0,28.83,24.47,28.83
$GC,2198,1.31,146.6,134.7,13.6,348,2208,0.08,2.40,0.00,0.000,6,0.093,0.037,3289,1804,1511,0,0,0,0,0,0,24.51,24.56,28.83
$GC,2351,1.31,146.6,117.1,11.5,373,2358,0.00,2.55,0.00,0.000,4,0.000,0.067,3288,398,1510,0,0,0,0,0,0,28.83,24.53,28.83
$GC,2463,1.27,146.6,102.6,13.7,392,2472,0.00,2.40,0.00,0.000,6,0.000,0.037,3289,1797,1510,0,0,0,0,0,0,28.83,24.62,28.83
$GC,2614,1.27,146.6,85.7,10.8,417,2621,0.00,2.53,0.00,0.000,4,0.000,0.067,3288,404,1510,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2665,1.24,146.6,79.3,13.5,425,2672,0.00,2.35,0.00,0.000,6,0.000,0.037,3289,1804,1509,0,0,0,0,0,0,28.83,24.65,28.83
$GC,2811,1.24,146.6,62.7,11.3,450,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1808,1509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2962,1.24,146.6,46.4,11.0,475,2971,0.00,2.58,0.00,0.000,4,0.000,0.068,3288,406,1509,0,0,0,0,0,0,28.83,24.63,28.83
$GC,3070,1.21,146.6,34.3,10.9,492,3079,0.08,2.38,0.00,0.000,6,0.095,0.037,3270,1800,1509,0,0,0,0,0,0,24.67,24.72,28.83
$GC,3154,1.21,146.6,25.7,10.1,505,3163,0.00,2.55,0.00,0.000,4,0.000,0.067,3270,410,1509,0,0,0,0,0,0,28.83,24.65,28.83
$GC,3179,1.22,153.5,23.2,9.7,508,3196,0.00,2.38,6.47,0.402,6,0.000,0.037,3270,1805,1488,0,0,0,0,0,0,28.83,24.73,24.22
$GC,3271,1.24,168.3,14.4,9.3,522,3296,0.00,2.62,15.00,0.455,4,0.000,0.069,3269,402,1427,0,0,0,0,0,0,28.83,24.44,24.10
$GC,3353,1.24,168.3,4.9,12.1,534,3362,0.00,2.38,0.00,0.000,6,0.000,0.036,3270,1795,1426,0,0,0,0,0,0,28.83,24.65,28.83
$STATE,3369,end climb,SURFACE_DEPTH_REACHED
$STATE,3369,begin surface coast
$FINISH,0.5,1.020865
$STATE,3400,end surface coast,CONTROL_FINISHED_OK
$STATE,3400,begin surface
$SM_CCo,3423,88.05,0.462,0,0,892,300.00
$SM_GC,0.94,11.55,0.15,88.05,0.035,0.070,0.462,645,1901,892,-10.76,-1.13,300.00,0,0,0,0,0,0,24.70,24.73,23.96
$IRIDIUM_FIX,4716.56,-12220.94,310712,212123
$TT8_MAMPS,0.024717,0.024717
$HUMID,54.60
$INTERNAL_PRESSURE,9.0128
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,155.0,53.5
$24V_AH,23.8,0.476
$10V_AH,10.4,0.424
$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,26.250,59.350,271.825,88.050,0.000,27.428,29.753,271.893,3.250,0.000,12.907,1206.914,307.774,417.656,1864.393,170.657,33.200,997.269,0.000,1543.903,0.000,23.058,0.000
$DEVICE_MAMPS,157.590,72.675,579.870,462.060,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.848,247.121,1165.915,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323604
$DATA_FILE_SIZE,33640,541
$CAP_FILE_SIZE,68298,0
$CFSIZE,260165632,258088960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310712,233819,4742.541,-12225.529,8,2.0,8,18.2