version: 66.10
glider: 130
mission: 17
dive: 18
start: 8 1 112 14 44 10
data:
$ID,130
$MISSION,17
$DIVE,18
$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,-115658.68
$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,21
$R_STBD_OVSHOOT,39
$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
$GPS1,010812,143349,4744.372,-12224.812,7,1.5,7,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-67.4
$GPS2,010812,144313,4744.447,-12224.839,11,1.6,11,18.2
$SPEED_LIMITS,0.067,0.260
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.004,-0.260
$KALMAN_X,-447.3,767.8,-141.3,-203.4,-10.8
$KALMAN_Y,-4661.4,853.3,-269.1,6410.2,822.2
$MHEAD_RNG_PITCHd_Wd,161.0,3235,-12.5,-8.000
$D_GRID,181
$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,-47.58,0.000,2,0.000,0.000,644,1920,2125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-1.11,-176.0,2.1,-4.1,6,111,12.02,2.62,-19.15,0.000,4,0.160,0.073,2747,492,2834,0,0,0,0,0,0,24.37,24.46,24.79
$GC,311,-1.08,-176.0,26.2,-10.6,44,320,0.00,2.40,0.00,0.000,6,0.000,0.034,2747,1910,2834,0,0,0,0,0,0,28.83,24.62,28.83
$GC,396,-1.06,-176.0,35.0,-10.9,57,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1910,2834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,478,-1.04,-176.0,43.3,-10.3,70,487,0.10,0.00,0.00,0.000,6,0.124,0.000,2764,1910,2834,0,0,0,0,0,0,24.60,28.83,28.83
$GC,562,-1.04,-176.0,50.8,-7.5,83,568,0.00,2.38,0.00,0.000,4,0.000,0.046,2764,3292,2835,0,0,0,0,0,0,28.83,24.61,28.83
$GC,629,-1.04,-176.0,56.8,-8.5,94,638,0.00,2.42,0.00,0.000,6,0.000,0.040,2764,1895,2834,0,0,0,0,0,0,28.83,24.63,28.83
$GC,779,-1.04,-176.0,70.2,-9.3,119,786,0.00,2.47,0.00,0.000,4,0.000,0.060,2764,496,2835,0,0,0,0,0,0,28.83,24.60,28.83
$GC,798,-1.04,-176.0,72.4,-10.4,122,807,0.00,2.38,0.00,0.000,6,0.000,0.033,2764,1903,2835,0,0,0,0,0,0,28.83,24.68,28.83
$GC,948,-1.04,-176.0,87.6,-10.0,147,955,0.00,2.38,0.00,0.000,4,0.000,0.046,2764,3291,2835,0,0,0,0,0,0,28.83,24.65,28.83
$GC,987,-1.04,-176.0,91.1,-9.3,153,994,0.00,2.38,0.00,0.000,6,0.000,0.041,2764,1896,2834,0,0,0,0,0,0,28.83,24.66,28.83
$GC,1136,-1.04,-176.0,102.0,-6.3,178,1145,0.00,2.53,0.00,0.000,4,0.000,0.061,2764,498,2835,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1164,-1.04,-176.0,103.9,-6.0,182,1173,0.00,2.38,0.00,0.000,6,0.000,0.034,2764,1907,2835,0,0,0,0,0,0,28.83,24.72,28.83
$GC,1316,-1.04,-176.0,114.2,-6.2,207,1323,0.00,2.50,0.00,0.000,4,0.000,0.060,2764,498,2835,0,0,0,0,0,0,28.83,24.64,28.83
$GC,1390,-1.04,-176.0,121.0,-9.7,219,1397,0.00,2.33,0.00,0.000,6,0.000,0.034,2764,1907,2834,0,0,0,0,0,0,28.83,24.73,28.83
$GC,1539,-1.04,-176.0,133.7,-7.7,244,1548,0.00,2.55,0.00,0.000,4,0.000,0.062,2764,499,2835,0,0,0,0,0,0,28.83,24.66,28.83
$GC,1574,-1.04,-176.0,136.7,-8.6,249,1581,0.00,2.33,0.00,0.000,6,0.000,0.034,2765,1895,2835,0,0,0,0,0,0,28.83,24.74,28.83
$GC,1723,-1.04,-176.0,147.8,-7.6,274,1732,0.00,2.42,0.00,0.000,4,0.000,0.046,2764,3293,2835,0,0,0,0,0,0,28.83,24.72,28.83
$GC,1762,-1.04,-176.0,151.0,-7.8,280,1771,0.00,2.40,0.00,0.000,6,0.000,0.041,2764,1905,2835,0,0,0,0,0,0,28.83,24.72,28.83
$GC,1913,-1.04,-176.0,162.2,-8.4,305,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1905,2835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2058,-1.04,-176.0,174.3,-8.8,330,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1905,2835,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2125,begin apogee
$GC,2131,-0.36,0.0,180.1,-9.2,341,2286,0.73,0.00,148.35,0.579,6,0.096,0.000,2914,1794,2115,0,0,0,0,0,0,24.70,28.83,23.76
$STATE,2287,end apogee,CONTROL_FINISHED_OK
$STATE,2288,begin climb
$GC,2291,1.11,176.0,186.6,0.0,364,2453,1.52,2.55,151.30,0.561,4,0.079,0.063,3230,406,1395,0,0,0,0,0,0,24.25,24.11,23.75
$GC,2468,1.08,176.0,175.9,8.4,390,2477,0.00,2.40,0.00,0.000,6,0.000,0.034,3230,1807,1395,0,0,0,0,0,0,28.83,24.33,28.83
$GC,2621,1.08,176.0,162.9,8.6,415,2627,0.00,2.55,0.00,0.000,4,0.000,0.065,3230,400,1392,0,0,0,0,0,0,28.83,24.39,28.83
$GC,2675,1.05,176.0,157.3,9.9,424,2684,0.00,2.38,0.00,0.000,6,0.000,0.034,3230,1788,1391,0,0,0,0,0,0,28.83,24.49,28.83
$GC,2828,1.04,180.5,145.0,7.9,449,2843,0.00,2.58,4.47,0.382,4,0.000,0.066,3230,404,1378,0,0,0,0,0,0,28.83,24.39,24.03
$GC,2859,1.01,183.9,142.5,7.9,453,2874,0.00,2.35,5.12,0.402,6,0.000,0.034,3230,1806,1364,0,0,0,0,0,0,28.83,24.50,24.01
$GC,3018,1.01,183.9,129.9,8.3,479,3024,0.00,2.55,0.00,0.000,4,0.000,0.066,3230,399,1363,0,0,0,0,0,0,28.83,24.47,28.83
$GC,3069,0.98,183.9,125.4,9.4,487,3075,0.00,2.35,0.00,0.000,6,0.000,0.034,3230,1802,1363,0,0,0,0,0,0,28.83,24.56,28.83
$GC,3215,0.98,183.9,112.3,9.7,512,3224,0.00,2.58,0.00,0.000,4,0.000,0.066,3230,405,1362,0,0,0,0,0,0,28.83,24.51,28.83
$GC,3297,0.95,183.9,104.0,11.9,525,3304,0.15,2.33,0.00,0.000,6,0.095,0.034,3201,1799,1362,0,0,0,0,0,0,24.55,24.59,28.83
$GC,3446,0.98,202.6,92.1,7.4,550,3474,0.00,2.60,18.42,0.499,4,0.000,0.065,3201,407,1288,0,0,0,0,0,0,28.83,24.30,23.94
$GC,3552,0.98,202.6,82.9,10.5,567,3559,0.00,2.33,0.00,0.000,6,0.000,0.034,3201,1800,1288,0,0,0,0,0,0,28.83,24.56,28.83
$GC,3700,0.98,202.6,68.7,8.6,592,3709,0.00,2.58,0.00,0.000,4,0.000,0.065,3202,401,1288,0,0,0,0,0,0,28.83,24.53,28.83
$GC,3758,0.98,202.6,63.2,10.1,601,3765,0.00,2.33,0.00,0.000,6,0.000,0.034,3201,1808,1287,0,0,0,0,0,0,28.83,24.63,28.83
$GC,3908,1.08,289.2,53.3,5.3,626,3998,0.12,2.60,81.82,0.495,4,0.063,0.065,3244,397,935,0,0,0,0,0,0,24.70,24.18,23.85
$GC,4025,1.08,289.2,43.5,10.3,642,4034,0.00,2.40,0.00,0.000,6,0.000,0.034,3244,1797,935,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4109,1.08,289.2,35.8,8.5,655,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1799,933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4191,1.08,289.2,28.8,8.5,668,4200,0.00,2.58,0.00,0.000,4,0.000,0.066,3244,402,933,0,0,0,0,0,0,28.83,24.47,28.83
$GC,4221,1.08,289.2,25.8,10.1,672,4230,0.00,2.38,0.00,0.000,6,0.000,0.034,3244,1802,933,0,0,0,0,0,0,28.83,24.56,28.83
$GC,4305,1.10,307.8,18.9,7.4,685,4338,0.00,2.60,20.95,0.459,4,0.000,0.065,3244,411,860,0,0,0,0,0,0,28.83,24.27,23.94
$GC,4395,1.10,307.8,11.0,9.3,698,4404,0.00,2.35,0.00,0.000,6,0.000,0.034,3244,1795,859,0,0,0,0,0,0,28.83,24.55,28.83
$STATE,4477,end climb,SURFACE_DEPTH_REACHED
$STATE,4477,begin surface coast
$FINISH,0.1,1.000726
$STATE,4516,end surface coast,CONTROL_FINISHED_OK
$STATE,4516,begin surface
$SM_CCo,4598,0.00,0.000,0,0,858,308.59
$SM_GC,0.92,11.45,0.15,0.00,0.034,0.068,0.000,646,1905,858,-10.74,-1.19,308.59,0,0,0,0,0,0,24.58,24.62,28.83
$IRIDIUM_FIX,4738.89,-12239.10,010812,131355
$TT8_MAMPS,0.024717,0.024717
$HUMID,52.99
$INTERNAL_PRESSURE,8.99327
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,23.7,1.506
$10V_AH,10.4,1.611
$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,26.100,88.500,430.450,0.000,0.000,26.511,39.252,369.071,0.000,0.000,13.519,1554.813,479.637,471.643,2440.119,219.166,33.221,1251.030,0.000,2024.720,0.000,0.535,0.000
$DEVICE_MAMPS,159.885,73.440,579.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,510.759,322.866,1520.444,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323588
$DATA_FILE_SIZE,47061,717
$CAP_FILE_SIZE,87404,0
$CFSIZE,260165632,257511424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010812,160206,4744.479,-12224.869,40,1.1,41,18.2