version: 66.10
glider: 130
mission: 17
dive: 9
start: 8 1 112 3 58 2
data:
$ID,130
$MISSION,17
$DIVE,9
$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,-115647.37
$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,34
$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
$GPS1,010812,034759,4743.685,-12224.623,32,1.3,33,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-64.4
$GPS2,010812,035705,4743.742,-12224.657,32,1.0,32,18.2
$SPEED_LIMITS,0.067,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.061,0.068
$KALMAN_X,-1589.7,-489.7,54.0,2222.2,130.0
$KALMAN_Y,-4561.5,-1038.1,243.9,6395.6,-43.8
$MHEAD_RNG_PITCHd_Wd,299.9,343,-39.1,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-2.82,-22.4,0.0,0.0,0,65,0.00,0.00,-47.25,0.000,2,0.000,0.000,645,1901,2004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-2.84,-38.2,2.2,-4.3,6,94,9.77,2.45,-6.85,0.000,4,0.157,0.054,2370,3303,2271,0,0,0,0,0,0,24.41,24.56,24.83
$GC,365,-2.84,-38.2,47.0,-12.7,54,374,0.00,2.45,0.00,0.000,6,0.000,0.038,2370,1888,2272,0,0,0,0,0,0,28.83,24.65,28.83
$GC,447,-2.81,-38.2,58.2,-15.3,67,454,0.00,2.42,0.00,0.000,4,0.000,0.041,2370,3316,2271,0,0,0,0,0,0,28.83,24.65,28.83
$GC,718,-2.81,-38.2,89.4,-11.1,113,724,0.00,2.40,0.00,0.000,6,0.000,0.038,2370,1898,2271,0,0,0,0,0,0,28.83,24.70,28.83
$GC,865,-2.81,-38.2,108.2,-10.8,138,874,0.00,2.45,0.00,0.000,4,0.000,0.043,2370,3310,2271,0,0,0,0,0,0,28.83,24.71,28.83
$GC,1138,-2.81,-38.7,132.7,-7.9,184,1147,0.00,2.42,0.00,0.000,6,0.000,0.040,2370,1904,2271,0,0,0,0,0,0,28.83,24.74,28.83
$GC,1289,-2.81,-38.7,145.5,-9.1,209,1295,0.00,2.40,0.00,0.000,4,0.000,0.043,2370,3315,2271,0,0,0,0,0,0,28.83,24.75,28.83
$GC,1413,-2.81,-38.7,157.2,-9.7,230,1422,0.00,2.45,0.00,0.000,6,0.000,0.040,2370,1893,2271,0,0,0,0,0,0,28.83,24.77,28.83
$GC,1564,-2.81,-38.7,171.9,-10.1,255,1570,0.00,2.45,0.00,0.000,4,0.000,0.058,2370,495,2271,0,0,0,0,0,0,28.83,24.72,28.83
$STATE,1589,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1589,begin apogee
$GC,1597,-0.36,0.0,174.8,-10.6,259,1639,2.80,0.00,35.20,0.565,6,0.126,0.000,2912,1817,2115,0,0,0,0,0,0,24.66,28.83,23.89
$STATE,1640,end apogee,CONTROL_FINISHED_OK
$STATE,1640,begin climb
$GC,1643,2.84,38.7,176.6,0.0,265,1691,3.30,2.58,36.42,0.554,4,0.073,0.059,3613,398,1955,0,0,0,0,0,0,24.41,24.25,23.86
$GC,1729,2.80,38.7,165.8,18.1,278,1737,0.00,2.40,0.00,0.000,6,0.000,0.034,3613,1802,1954,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1879,2.80,38.7,140.8,16.2,303,1885,0.00,2.50,0.00,0.000,4,0.000,0.060,3613,402,1952,0,0,0,0,0,0,28.83,24.55,28.83
$GC,2060,2.75,38.7,108.8,15.6,334,2069,0.00,2.38,0.00,0.000,6,0.000,0.036,3613,1792,1951,0,0,0,0,0,0,28.83,24.65,28.83
$GC,2212,2.75,38.7,88.9,13.2,359,2219,0.00,2.50,0.00,0.000,4,0.000,0.062,3613,395,1951,0,0,0,0,0,0,28.83,24.61,28.83
$GC,2484,2.71,38.7,58.2,8.5,405,2492,0.15,2.38,0.00,0.000,6,0.142,0.035,3590,1818,1950,0,0,0,0,0,0,24.60,24.72,28.83
$GC,2637,2.71,38.7,44.4,10.2,430,2646,0.00,2.55,0.00,0.000,4,0.000,0.058,3590,403,1950,0,0,0,0,0,0,28.83,24.67,28.83
$GC,2709,2.69,38.7,35.1,12.8,441,2718,0.00,2.38,0.00,0.000,6,0.000,0.034,3590,1806,1950,0,0,0,0,0,0,28.83,24.74,28.83
$GC,2793,2.69,38.7,27.4,9.4,454,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1806,1950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2875,2.69,38.7,20.4,8.3,467,2884,0.00,2.55,0.00,0.000,4,0.000,0.060,3590,397,1950,0,0,0,0,0,0,28.83,24.68,28.83
$GC,3157,2.74,83.0,9.0,-2.6,513,3206,0.00,2.38,39.58,0.473,6,0.000,0.034,3590,1810,1775,0,0,0,0,0,0,28.83,24.79,23.96
$GC,3281,2.76,83.0,4.0,10.0,531,3290,0.00,2.55,0.00,0.000,4,0.000,0.061,3590,407,1772,0,0,0,0,0,0,28.83,24.56,28.83
$STATE,3297,end climb,SURFACE_DEPTH_REACHED
$STATE,3297,begin surface coast
$FINISH,0.0,1.021133
$STATE,3328,end surface coast,CONTROL_FINISHED_OK
$STATE,3328,begin surface
$SM_CCo,3354,149.57,0.458,0,0,891,300.00
$SM_GC,0.87,13.05,2.55,149.57,0.038,0.034,0.458,647,1890,891,-10.74,-1.53,300.00,0,0,0,0,0,0,24.65,24.66,23.90
$IRIDIUM_FIX,4713.38,-12441.51,010812,020231
$TT8_MAMPS,0.024717,0.024717
$HUMID,52.40
$INTERNAL_PRESSURE,9.0128
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.2,69.4
$24V_AH,23.9,0.789
$10V_AH,10.4,0.808
$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,29.075,53.800,111.200,149.575,0.000,30.508,34.232,336.595,0.500,0.000,33.025,1244.540,313.998,349.537,1983.778,164.088,33.221,843.223,0.000,1580.781,0.000,5.845,0.000
$DEVICE_MAMPS,156.825,61.965,564.570,458.235,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.652,260.647,1225.170,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323640
$DATA_FILE_SIZE,33624,538
$CAP_FILE_SIZE,61913,0
$CFSIZE,260165632,257916928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010812,045719,4744.044,-12224.567,11,1.4,11,18.2