version: 66.10
glider: 130
mission: 17
dive: 8
start: 8 1 112 2 34 53
data:
$ID,130
$MISSION,17
$DIVE,8
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,200
$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,83
$T_MISSION,85
$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,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,-115646.11
$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,2995
$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,21
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$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
$GPS1,010812,022321,4743.133,-12225.112,7,2.8,27,18.2
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-63.1
$GPS2,010812,023356,4743.151,-12225.156,13,2.9,32,18.2
$SPEED_LIMITS,0.067,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.080,0.227
$KALMAN_X,-1699.9,-545.5,17.6,1805.8,-67.4
$KALMAN_Y,-4057.9,-1359.7,101.6,5261.3,-94.7
$MHEAD_RNG_PITCHd_Wd,1.3,1456,-14.1,-8.032
$D_GRID,200
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.19,-146.6,0.0,0.0,0,66,0.00,0.00,-46.53,0.000,2,0.000,0.000,644,1906,2105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-1.19,-146.6,2.1,-4.0,6,102,11.77,0.00,-15.55,0.000,6,0.155,0.000,2730,1906,2714,0,0,0,0,0,0,24.43,28.83,24.84
$GC,178,-1.15,-146.6,11.3,-9.4,22,186,0.00,2.45,0.00,0.000,4,0.000,0.047,2730,3302,2715,0,0,0,0,0,0,28.83,24.60,28.83
$GC,261,-1.15,-146.6,20.5,-11.8,35,269,0.00,2.45,0.00,0.000,6,0.000,0.040,2730,1893,2715,0,0,0,0,0,0,28.83,24.63,28.83
$GC,344,-1.12,-146.6,30.1,-11.5,48,353,0.10,0.00,0.00,0.000,6,0.130,0.000,2747,1892,2715,0,0,0,0,0,0,24.63,28.83,28.83
$GC,427,-1.12,-146.6,38.7,-10.4,61,436,0.00,2.47,0.00,0.000,4,0.000,0.046,2747,3302,2715,0,0,0,0,0,0,28.83,24.63,28.83
$GC,457,-1.12,-146.6,41.6,-9.8,65,466,0.00,2.42,0.00,0.000,6,0.000,0.041,2747,1906,2715,0,0,0,0,0,0,28.83,24.65,28.83
$GC,540,-1.12,-146.6,49.2,-8.9,78,549,0.00,2.55,0.00,0.000,4,0.000,0.062,2747,498,2715,0,0,0,0,0,0,28.83,24.61,28.83
$GC,731,-1.12,-146.6,67.0,-8.4,110,739,0.00,2.38,0.00,0.000,6,0.000,0.034,2747,1912,2716,0,0,0,0,0,0,28.83,24.72,28.83
$GC,881,-1.12,-146.6,79.0,-8.5,135,888,0.00,2.53,0.00,0.000,4,0.000,0.061,2747,493,2715,0,0,0,0,0,0,28.83,24.65,28.83
$GC,897,-1.12,-146.6,80.4,-8.9,137,904,0.00,2.33,0.00,0.000,6,0.000,0.034,2746,1895,2715,0,0,0,0,0,0,28.83,24.73,28.83
$GC,1043,-1.12,-146.6,95.3,-11.5,162,1052,0.00,2.45,0.00,0.000,4,0.000,0.049,2746,3298,2715,0,0,0,0,0,0,28.83,24.72,28.83
$GC,1206,-1.12,-146.6,108.9,-8.2,189,1213,0.00,2.38,0.00,0.000,6,0.000,0.040,2747,1898,2715,0,0,0,0,0,0,28.83,24.74,28.83
$GC,1356,-1.12,-146.6,122.2,-9.6,214,1364,0.00,2.53,0.00,0.000,4,0.000,0.063,2747,499,2715,0,0,0,0,0,0,28.83,24.70,28.83
$GC,1425,-1.12,-146.6,129.4,-10.7,225,1435,0.00,2.33,0.00,0.000,6,0.000,0.034,2747,1908,2716,0,0,0,0,0,0,28.83,24.79,28.83
$GC,1578,-1.12,-146.6,144.2,-10.2,250,1587,0.00,2.40,0.00,0.000,4,0.000,0.047,2747,3287,2715,0,0,0,0,0,0,28.83,24.76,28.83
$GC,1605,-1.12,-146.6,147.0,-10.3,254,1614,0.00,2.40,0.00,0.000,6,0.000,0.041,2747,1902,2715,0,0,0,0,0,0,28.83,24.76,28.83
$GC,1757,-1.12,-146.6,161.1,-8.6,279,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1902,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1903,-1.12,-146.6,175.5,-8.9,304,1912,0.00,2.53,0.00,0.000,4,0.000,0.063,2747,503,2715,0,0,0,0,0,0,28.83,24.75,28.83
$GC,1939,-1.12,-146.6,178.7,-10.2,309,1946,0.00,2.33,0.00,0.000,6,0.000,0.034,2747,1916,2715,0,0,0,0,0,0,28.83,24.84,28.83
$STATE,1979,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1979,begin apogee
$GC,1986,-0.36,0.0,182.7,-8.3,316,2115,0.80,0.00,124.88,0.579,6,0.090,0.000,2913,1796,2115,0,0,0,0,0,0,24.75,28.83,23.82
$STATE,2116,end apogee,CONTROL_FINISHED_OK
$STATE,2116,begin climb
$GC,2119,1.19,146.6,186.6,0.0,335,2254,1.58,2.65,126.18,0.561,4,0.082,0.066,3248,399,1516,0,0,0,0,0,0,24.28,24.16,23.80
$GC,2354,1.15,146.6,166.4,11.5,372,2363,0.00,2.40,0.00,0.000,6,0.000,0.035,3248,1788,1512,0,0,0,0,0,0,28.83,24.48,28.83
$GC,2507,1.15,146.6,150.9,10.6,397,2513,0.00,2.53,0.00,0.000,4,0.000,0.066,3248,400,1512,0,0,0,0,0,0,28.83,24.46,28.83
$GC,2546,1.11,146.6,146.0,13.0,403,2553,0.00,2.35,0.00,0.000,6,0.000,0.035,3248,1806,1511,0,0,0,0,0,0,28.83,24.55,28.83
$GC,2696,1.09,146.6,130.3,10.0,428,2705,0.00,2.60,0.00,0.000,4,0.000,0.067,3248,400,1511,0,0,0,0,0,0,28.83,24.51,28.83
$GC,2767,1.05,146.6,122.4,11.6,439,2774,0.12,2.35,0.00,0.000,6,0.106,0.035,3224,1803,1510,0,0,0,0,0,0,24.55,24.59,28.83
$GC,2916,1.05,146.6,108.7,8.9,464,2925,0.00,2.58,0.00,0.000,4,0.000,0.066,3224,407,1511,0,0,0,0,0,0,28.83,24.55,28.83
$GC,2986,1.05,146.6,101.9,10.5,475,2993,0.00,2.33,0.00,0.000,6,0.000,0.035,3224,1803,1510,0,0,0,0,0,0,28.83,24.63,28.83
$GC,3132,1.05,146.6,88.7,10.1,500,3141,0.00,2.58,0.00,0.000,4,0.000,0.067,3224,406,1510,0,0,0,0,0,0,28.83,24.58,28.83
$GC,3180,1.05,146.6,84.1,10.6,507,3186,0.00,2.33,0.00,0.000,6,0.000,0.036,3224,1800,1510,0,0,0,0,0,0,28.83,24.65,28.83
$GC,3326,1.05,146.6,68.2,11.0,532,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1801,1510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3476,1.06,156.5,53.2,7.7,557,3491,0.00,2.62,9.10,0.446,4,0.000,0.066,3224,399,1476,0,0,0,0,0,0,28.83,24.48,24.14
$GC,3644,1.10,184.8,40.7,7.0,584,3678,0.00,2.38,26.98,0.482,6,0.000,0.036,3224,1797,1360,0,0,0,0,0,0,28.83,24.68,23.97
$GC,3752,1.27,324.0,35.7,2.9,600,3903,0.17,2.62,132.43,0.476,4,0.054,0.067,3272,404,794,0,0,0,0,1,0,24.65,24.21,23.89
$GC,3968,1.27,324.0,21.3,9.5,629,3977,0.00,2.38,0.00,0.000,6,0.000,0.035,3272,1790,793,0,0,0,0,0,0,28.83,24.50,28.83
$GC,4052,1.27,324.0,13.6,10.1,642,4061,0.00,2.47,0.00,0.000,4,0.000,0.048,3272,3195,792,0,0,0,0,0,0,28.83,24.50,28.83
$GC,4089,1.30,324.0,10.1,10.2,647,4097,0.00,2.45,0.00,0.000,6,0.000,0.045,3272,1807,791,0,0,0,0,0,0,28.83,24.53,28.83
$GC,4173,1.34,354.6,3.1,6.9,660,4182,0.00,0.00,7.62,0.396,2,0.000,0.000,3272,1807,765,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4183,end climb,SURFACE_DEPTH_REACHED
$STATE,4183,begin surface coast
$FINISH,0.1,1.009540
$STATE,4232,end surface coast,CONTROL_FINISHED_OK
$STATE,4233,begin surface
$SM_CCo,4315,0.00,0.000,0,0,764,331.40
$SM_GC,0.82,11.60,0.15,0.00,0.034,0.063,0.000,646,1900,764,-10.74,-1.10,331.40,0,0,0,0,0,0,24.58,24.60,28.83
$IRIDIUM_FIX,4719.74,-12224.35,010812,000040
$TT8_MAMPS,0.024717,0.024717
$HUMID,54.37
$INTERNAL_PRESSURE,9.00303
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.3,57.2
$24V_AH,23.8,0.729
$10V_AH,10.4,0.723
$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,26.150,78.850,427.175,0.000,0.000,28.031,48.836,407.108,1.500,0.000,35.679,1448.884,444.756,434.805,2412.468,209.828,33.228,1180.078,0.000,1919.093,0.000,12.160,0.000
$DEVICE_MAMPS,155.295,68.850,579.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,476.886,310.168,1465.434,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323612
$DATA_FILE_SIZE,43678,669
$CAP_FILE_SIZE,81820,0
$CFSIZE,260165632,257937408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,010812,034759,4743.685,-12224.623,32,1.3,33,18.2