version: 66.10
glider: 130
mission: 17
dive: 6
start: 7 31 112 23 47 35
data:
$ID,130
$MISSION,17
$DIVE,6
$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,-115643.58
$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,29
$R_STBD_OVSHOOT,36
$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
$GPS1,310712,233819,4742.541,-12225.529,8,2.0,8,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-66.5
$GPS2,310712,234637,4742.501,-12225.521,12,1.8,12,18.2
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.100,0.240
$KALMAN_X,-1205.6,-577.0,-93.9,1003.5,-226.9
$KALMAN_Y,-2846.5,-1446.7,-241.4,3283.5,-475.0
$MHEAD_RNG_PITCHd_Wd,4.5,2742,-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,-47.45,0.000,2,0.000,0.000,645,1902,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-1.43,-146.6,2.3,-4.7,6,103,11.45,2.55,-13.07,0.000,4,0.154,0.073,2680,503,2714,0,0,0,0,0,0,24.44,24.52,24.86
$GC,210,-1.38,-146.6,21.1,-12.3,27,219,0.00,2.38,0.00,0.000,6,0.000,0.034,2680,1903,2715,0,0,0,0,0,0,28.83,24.66,28.83
$GC,293,-1.35,-146.6,30.2,-10.1,40,302,0.12,0.00,0.00,0.000,6,0.116,0.000,2706,1905,2715,0,0,0,0,0,0,24.62,28.83,28.83
$GC,376,-1.35,-146.6,38.8,-10.7,53,385,0.00,2.42,0.00,0.000,4,0.000,0.049,2706,3289,2715,0,0,0,0,0,0,28.83,24.65,28.83
$GC,394,-1.35,-146.6,40.6,-10.0,55,403,0.00,2.40,0.00,0.000,6,0.000,0.041,2706,1905,2715,0,0,0,0,0,0,28.83,24.66,28.83
$GC,477,-1.35,-146.6,49.3,-11.0,68,486,0.00,2.55,0.00,0.000,4,0.000,0.062,2706,496,2715,0,0,0,0,0,0,28.83,24.63,28.83
$GC,516,-1.35,-146.6,54.2,-11.7,74,525,0.00,2.38,0.00,0.000,6,0.000,0.034,2705,1904,2715,0,0,0,0,0,0,28.83,24.72,28.83
$GC,667,-1.35,-146.6,66.6,-7.0,99,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1904,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,813,-1.35,-146.6,79.4,-8.8,124,821,0.00,2.42,0.00,0.000,4,0.000,0.048,2705,3292,2715,0,0,0,0,0,0,28.83,24.72,28.83
$GC,991,-1.35,-146.6,95.5,-9.2,154,1000,0.00,2.42,0.00,0.000,6,0.000,0.042,2705,1896,2715,0,0,0,0,0,0,28.83,24.75,28.83
$GC,1144,-1.35,-146.6,109.0,-9.2,179,1151,0.00,2.47,0.00,0.000,4,0.000,0.063,2706,497,2715,0,0,0,0,0,0,28.83,24.70,28.83
$GC,1165,-1.35,-146.6,111.5,-9.5,182,1173,0.00,2.38,0.00,0.000,6,0.000,0.036,2706,1907,2715,0,0,0,0,0,0,28.83,24.79,28.83
$GC,1319,-1.35,-146.6,127.7,-10.9,207,1326,0.00,2.38,0.00,0.000,4,0.000,0.047,2706,3296,2715,0,0,0,0,0,0,28.83,24.76,28.83
$GC,1347,-1.35,-146.6,130.8,-11.3,211,1354,0.00,2.38,0.00,0.000,6,0.000,0.041,2706,1899,2715,0,0,0,0,0,0,28.83,24.77,28.83
$GC,1499,-1.35,-146.6,146.7,-10.1,236,1508,0.00,2.42,0.00,0.000,4,0.000,0.047,2706,3286,2715,0,0,0,0,0,0,28.83,24.78,28.83
$GC,1538,-1.35,-146.6,151.1,-10.7,242,1547,0.00,2.40,0.00,0.000,6,0.000,0.042,2706,1899,2715,0,0,0,0,0,0,28.83,24.79,28.83
$GC,1691,-1.35,-146.6,165.2,-9.1,267,1697,0.00,2.47,0.00,0.000,4,0.000,0.063,2705,498,2715,0,0,0,0,0,0,28.83,24.74,28.83
$GC,1776,-1.35,-146.6,174.2,-10.1,281,1782,0.00,2.33,0.00,0.000,6,0.000,0.035,2706,1912,2715,0,0,0,0,0,0,28.83,24.84,28.83
$STATE,1839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1839,begin apogee
$GC,1846,-0.36,0.0,180.5,-8.6,292,1976,1.05,0.00,124.60,0.577,6,0.106,0.000,2916,1793,2114,0,0,0,0,0,0,24.75,28.83,23.85
$STATE,1977,end apogee,CONTROL_FINISHED_OK
$STATE,1977,begin climb
$GC,1979,1.43,146.6,183.3,0.0,311,2115,1.80,2.62,126.22,0.557,4,0.071,0.066,3307,406,1515,0,0,0,0,0,0,24.32,24.19,23.82
$GC,2170,1.38,146.6,163.4,15.0,340,2179,0.00,2.38,0.00,0.000,6,0.000,0.036,3307,1789,1512,0,0,0,0,0,0,28.83,24.46,28.83
$GC,2323,1.36,146.6,143.3,13.1,365,2330,0.00,2.53,0.00,0.000,4,0.000,0.067,3307,399,1511,0,0,0,0,0,0,28.83,24.46,28.83
$GC,2413,1.31,146.6,130.1,14.5,380,2423,0.08,2.40,0.00,0.000,6,0.097,0.036,3290,1802,1510,0,0,0,0,0,0,24.51,24.56,28.83
$GC,2566,1.31,146.6,111.5,13.0,405,2573,0.00,2.55,0.00,0.000,4,0.000,0.067,3290,397,1510,0,0,0,0,0,0,28.83,24.52,28.83
$GC,2641,1.28,146.6,100.6,15.2,417,2648,0.00,2.35,0.00,0.000,6,0.000,0.036,3290,1799,1509,0,0,0,0,0,0,28.83,24.60,28.83
$GC,2787,1.28,146.6,83.2,10.9,442,2796,0.00,2.58,0.00,0.000,4,0.000,0.067,3290,408,1509,0,0,0,0,0,0,28.83,24.56,28.83
$GC,2835,1.25,146.6,78.0,12.6,449,2842,0.00,2.33,0.00,0.000,6,0.000,0.037,3290,1799,1509,0,0,0,0,0,0,28.83,24.64,28.83
$GC,2985,1.25,150.5,63.6,9.8,474,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1799,1509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3136,1.25,150.5,46.8,11.9,499,3145,0.00,2.55,0.00,0.000,4,0.000,0.067,3290,412,1509,0,0,0,0,0,0,28.83,24.62,28.83
$GC,3250,1.23,150.5,32.8,12.9,517,3259,0.08,2.35,0.00,0.000,6,0.094,0.037,3271,1795,1509,0,0,0,0,0,0,24.65,24.70,28.83
$GC,3335,1.24,157.3,23.8,9.7,530,3352,0.00,2.42,9.95,0.438,4,0.000,0.047,3271,3201,1472,0,0,0,0,0,0,28.83,24.54,24.16
$GC,3362,1.28,192.6,21.5,8.4,533,3403,0.00,2.45,32.25,0.471,6,0.000,0.045,3272,1807,1330,0,0,0,0,0,0,28.83,24.59,23.98
$GC,3478,1.31,192.6,10.8,11.1,550,3486,0.00,2.60,0.00,0.000,4,0.000,0.069,3271,396,1327,0,0,0,0,0,0,28.83,24.53,28.83
$STATE,3541,end climb,SURFACE_DEPTH_REACHED
$STATE,3541,begin surface coast
$FINISH,0.0,0.999217
$STATE,3572,end surface coast,CONTROL_FINISHED_OK
$STATE,3572,begin surface
$SM_CCo,3597,73.15,0.457,0,0,891,300.00
$SM_GC,0.80,11.55,2.60,73.15,0.034,0.034,0.457,646,1902,891,-10.76,-1.02,300.00,0,0,0,0,0,0,24.66,24.66,23.95
$IRIDIUM_FIX,4713.38,-12203.36,310712,222221
$TT8_MAMPS,0.024717,0.024717
$HUMID,54.64
$INTERNAL_PRESSURE,9.0128
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.2,71.2
$24V_AH,23.8,0.554
$10V_AH,10.4,0.509
$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,26.125,73.650,293.025,73.150,0.000,22.950,43.252,306.200,2.250,0.000,12.727,1265.550,330.586,420.660,1969.679,191.501,33.221,1032.877,0.000,1608.200,0.000,16.825,0.000
$DEVICE_MAMPS,153.765,72.675,576.810,457.470,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,402.505,257.530,1210.635,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323596
$DATA_FILE_SIZE,36933,565
$CAP_FILE_SIZE,72528,0
$CFSIZE,260165632,258039808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010812,004957,4742.694,-12225.396,11,8.4,30,18.2