version: 66.10
glider: 130
mission: 17
dive: 14
start: 8 1 112 9 28 39
data:
$ID,130
$MISSION,17
$DIVE,14
$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,75
$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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$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,-115653.66
$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,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,48
$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,0
$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
$GPS1,010812,091954,4743.542,-12224.840,15,1.5,33,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-66.9
$GPS2,010812,092742,4743.474,-12224.839,14,1.7,14,18.2
$SPEED_LIMITS,0.067,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.012,0.260
$KALMAN_X,-951.6,628.0,165.7,133.6,81.1
$KALMAN_Y,-5969.7,1079.8,68.0,5377.8,-646.5
$MHEAD_RNG_PITCHd_Wd,339.2,791,-12.5,-8.000
$D_GRID,175
$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,-1.11,-176.0,0.0,0.0,0,66,0.00,0.00,-47.58,0.000,2,0.000,0.000,646,1909,2154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-1.11,-176.0,2.2,-4.3,6,104,12.02,2.47,-16.60,0.000,4,0.160,0.060,2748,3295,2834,0,0,0,0,0,0,24.37,24.50,24.79
$GC,167,-1.09,-176.0,12.0,-10.6,20,176,0.00,2.45,0.00,0.000,6,0.000,0.041,2748,1892,2834,0,0,0,0,0,0,28.83,24.56,28.83
$GC,250,-1.06,-176.0,20.5,-10.7,33,259,0.00,2.53,0.00,0.000,4,0.000,0.061,2748,500,2835,0,0,0,0,0,0,28.83,24.53,28.83
$GC,304,-1.03,-176.0,26.6,-11.4,41,314,0.08,2.38,0.00,0.000,6,0.103,0.034,2765,1899,2835,0,0,0,0,0,0,24.53,24.61,28.83
$GC,389,-1.03,-176.0,35.3,-10.3,54,397,0.00,2.45,0.00,0.000,4,0.000,0.047,2765,3295,2835,0,0,0,0,0,0,28.83,24.59,28.83
$GC,419,-1.03,-176.0,38.3,-9.9,58,427,0.00,2.42,0.00,0.000,6,0.000,0.040,2765,1900,2835,0,0,0,0,0,0,28.83,24.60,28.83
$GC,501,-1.03,-176.0,46.1,-9.1,71,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1900,2835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,583,-1.03,-176.0,52.8,-7.2,84,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1900,2835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,733,-1.03,-176.0,62.4,-7.2,109,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1899,2835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,878,-1.03,-176.0,73.4,-7.8,134,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1899,2835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1028,-1.03,-176.0,85.4,-9.1,159,1035,0.00,2.40,0.00,0.000,4,0.000,0.045,2765,3295,2835,0,0,0,0,0,0,28.83,24.67,28.83
$GC,1090,-1.03,-176.0,91.3,-9.5,169,1097,0.00,2.38,0.00,0.000,6,0.000,0.040,2765,1898,2835,0,0,0,0,0,0,28.83,24.68,28.83
$GC,1240,-1.03,-176.0,104.5,-6.8,194,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1898,2835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1389,-1.03,-176.0,119.7,-10.6,219,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1898,2835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1534,-1.03,-176.0,134.8,-9.2,244,1543,0.00,2.53,0.00,0.000,4,0.000,0.062,2765,498,2835,0,0,0,0,0,0,28.83,24.68,28.83
$GC,1581,-1.03,-176.0,138.9,-9.6,251,1588,0.00,2.33,0.00,0.000,6,0.000,0.034,2765,1908,2835,0,0,0,0,0,0,28.83,24.75,28.83
$GC,1730,-1.03,-176.0,150.1,-7.3,276,1739,0.00,2.55,0.00,0.000,4,0.000,0.062,2765,500,2835,0,0,0,0,0,0,28.83,24.69,28.83
$GC,1788,-1.03,-176.0,155.2,-8.5,285,1795,0.00,2.30,0.00,0.000,6,0.000,0.034,2765,1902,2835,0,0,0,0,0,0,28.83,24.77,28.83
$GC,1938,-1.03,-176.0,167.8,-7.6,310,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1902,2835,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2028,begin apogee
$GC,2034,-0.36,0.0,175.4,-7.9,325,2188,0.70,0.00,146.90,0.585,6,0.091,0.000,2912,1794,2114,0,0,0,0,0,0,24.71,28.83,23.78
$STATE,2189,end apogee,CONTROL_FINISHED_OK
$STATE,2191,begin climb
$GC,2193,1.11,176.0,179.6,0.0,348,2356,1.52,2.58,151.12,0.556,4,0.074,0.066,3232,403,1396,0,0,0,0,0,0,24.28,24.13,23.77
$GC,2405,1.07,176.0,162.4,11.7,380,2415,0.00,2.38,0.00,0.000,6,0.000,0.034,3232,1786,1393,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2558,1.04,176.0,147.5,9.3,405,2565,0.00,2.53,0.00,0.000,4,0.000,0.069,3232,406,1392,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2632,1.01,176.0,139.5,10.0,417,2639,0.00,2.35,0.00,0.000,6,0.000,0.034,3232,1806,1391,0,0,0,0,0,0,28.83,24.51,28.83
$GC,2782,0.99,176.0,124.9,9.9,442,2791,0.10,0.00,0.00,0.000,6,0.111,0.000,3211,1810,1391,0,0,0,0,0,0,24.54,28.83,28.83
$GC,2933,0.99,176.0,110.8,9.7,467,2939,0.00,2.55,0.00,0.000,4,0.000,0.067,3211,402,1391,0,0,0,0,0,0,28.83,24.49,28.83
$GC,3007,0.97,176.0,103.8,9.9,479,3013,0.00,2.35,0.00,0.000,6,0.000,0.034,3211,1806,1390,0,0,0,0,0,0,28.83,24.58,28.83
$GC,3153,0.97,176.0,91.2,9.0,504,3162,0.00,2.58,0.00,0.000,4,0.000,0.067,3211,411,1390,0,0,0,0,0,0,28.83,24.53,28.83
$GC,3228,0.97,176.0,85.0,9.1,516,3236,0.00,2.38,0.00,0.000,6,0.000,0.034,3211,1806,1390,0,0,0,0,0,0,28.83,24.63,28.83
$GC,3378,0.97,176.0,73.0,8.2,541,3385,0.00,2.55,0.00,0.000,4,0.000,0.066,3211,397,1390,0,0,0,0,0,0,28.83,24.56,28.83
$GC,3463,0.97,176.0,64.5,10.3,555,3470,0.00,2.35,0.00,0.000,6,0.000,0.034,3211,1805,1390,0,0,0,0,0,0,28.83,24.64,28.83
$GC,3611,0.97,176.0,51.7,8.5,580,3620,0.00,2.58,0.00,0.000,4,0.000,0.066,3211,406,1390,0,0,0,0,0,0,28.83,24.58,28.83
$GC,3646,0.97,176.0,48.3,10.6,585,3655,0.00,2.38,0.00,0.000,6,0.000,0.034,3211,1802,1390,0,0,0,0,0,0,28.83,24.66,28.83
$GC,3730,0.97,176.0,40.0,10.1,598,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1804,1389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3813,0.97,176.0,31.5,10.3,611,3821,0.00,2.58,0.00,0.000,4,0.000,0.066,3211,402,1390,0,0,0,0,0,0,28.83,24.60,28.83
$GC,3849,0.97,176.0,28.2,9.5,616,3858,0.00,2.38,0.00,0.000,6,0.000,0.034,3211,1802,1390,0,0,0,0,0,0,28.83,24.68,28.83
$GC,3932,1.03,225.7,22.2,6.5,629,3989,0.00,2.62,44.90,0.482,4,0.000,0.066,3211,404,1193,0,0,0,0,0,0,28.83,24.25,23.91
$GC,4052,1.03,225.7,12.8,10.4,646,4060,0.00,2.38,0.00,0.000,6,0.000,0.034,3211,1797,1192,0,0,0,0,0,0,28.83,24.56,28.83
$GC,4135,1.04,239.1,6.2,7.6,659,4153,0.00,2.50,13.10,0.443,4,0.000,0.045,3211,3202,1139,0,0,0,0,0,0,28.83,24.40,24.04
$STATE,4178,end climb,SURFACE_DEPTH_REACHED
$STATE,4178,begin surface coast
$FINISH,0.1,1.007856
$STATE,4227,end surface coast,CONTROL_FINISHED_OK
$STATE,4227,begin surface
$SM_CCo,4252,44.15,0.459,0,0,892,300.00
$SM_GC,0.88,11.35,2.30,44.15,0.035,0.044,0.459,646,1902,892,-10.74,0.88,300.00,0,0,0,0,0,0,24.58,24.56,23.91
$IRIDIUM_FIX,4735.69,-12323.62,010812,080842
$TT8_MAMPS,0.024717,0.024717
$HUMID,53.46
$INTERNAL_PRESSURE,8.99327
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.8,1.186
$10V_AH,10.4,1.222
$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,25.775,73.625,356.025,44.150,0.000,28.745,32.701,272.892,0.000,0.000,17.133,1478.785,398.972,454.360,2249.258,193.591,33.236,1172.699,0.000,1913.364,0.000,0.769,0.000
$DEVICE_MAMPS,159.885,74.205,585.225,459.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,479.809,310.499,1447.881,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323584
$DATA_FILE_SIZE,43535,673
$CAP_FILE_SIZE,79421,0
$CFSIZE,260165632,257699840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010812,104136,4743.813,-12224.688,39,1.0,40,18.2