version: 66.10
glider: 130
mission: 17
dive: 3
start: 7 31 112 20 20 51
data:
$ID,130
$MISSION,17
$DIVE,3
$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,-115639.8
$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,38
$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
$GPS1,310712,201349,4742.854,-12225.089,8,1.7,8,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-68.0
$GPS2,310712,201955,4742.779,-12225.160,16,1.6,16,18.2
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.076,0.249
$KALMAN_X,-186.7,-178.7,-158.7,104.1,-207.0
$KALMAN_Y,-536.8,-516.5,-464.8,787.3,-587.6
$MHEAD_RNG_PITCHd_Wd,358.8,2125,-17.5,-10.000
$D_GRID,186
$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,-47.33,0.000,2,0.000,0.000,645,1907,2178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-1.43,-146.6,2.4,-5.0,6,103,11.43,2.40,-13.50,0.000,4,0.155,0.057,2681,3308,2713,0,0,0,0,0,0,24.53,24.66,24.96
$GC,232,-1.41,-146.6,19.1,-11.8,31,241,0.00,2.42,0.00,0.000,6,0.000,0.041,2680,1902,2714,0,0,0,0,0,0,28.83,24.73,28.83
$GC,316,-1.38,-146.6,28.5,-10.9,44,325,0.00,2.53,0.00,0.000,4,0.000,0.061,2680,495,2714,0,0,0,0,0,0,28.83,24.70,28.83
$GC,382,-1.35,-146.6,37.2,-12.7,54,391,0.08,2.38,0.00,0.000,6,0.116,0.035,2697,1910,2714,0,0,0,0,0,0,24.68,24.79,28.83
$GC,466,-1.35,-146.6,46.3,-10.0,67,475,0.00,2.53,0.00,0.000,4,0.000,0.060,2697,503,2714,0,0,0,0,0,0,28.83,24.72,28.83
$GC,490,-1.35,-146.6,49.0,-11.4,70,499,0.00,2.35,0.00,0.000,6,0.000,0.035,2696,1897,2714,0,0,0,0,0,0,28.83,24.80,28.83
$GC,571,-1.35,-146.6,58.3,-11.6,83,578,0.00,2.38,0.00,0.000,4,0.000,0.048,2696,3291,2715,0,0,0,0,0,0,28.83,24.77,28.83
$GC,633,-1.35,-146.6,65.5,-11.6,93,640,0.00,2.38,0.00,0.000,6,0.000,0.042,2697,1901,2714,0,0,0,0,0,0,28.83,24.79,28.83
$GC,781,-1.35,-146.6,81.0,-10.0,118,789,0.00,2.50,0.00,0.000,4,0.000,0.063,2697,501,2715,0,0,0,0,0,0,28.83,24.77,28.83
$GC,885,-1.35,-146.6,92.3,-10.4,135,891,0.00,2.33,0.00,0.000,6,0.000,0.036,2696,1908,2715,0,0,0,0,0,0,28.83,24.87,28.83
$GC,1036,-1.35,-146.6,107.0,-9.4,160,1044,0.00,2.40,0.00,0.000,4,0.000,0.049,2697,3290,2715,0,0,0,0,0,0,28.83,24.84,28.83
$GC,1144,-1.35,-146.6,118.3,-10.1,178,1153,0.00,2.40,0.00,0.000,6,0.000,0.043,2697,1907,2714,0,0,0,0,0,0,28.83,24.85,28.83
$GC,1300,-1.35,-146.6,134.0,-11.0,203,1306,0.00,2.38,0.00,0.000,4,0.000,0.049,2697,3294,2714,0,0,0,0,0,0,28.83,24.85,28.83
$GC,1362,-1.35,-146.6,140.4,-9.9,213,1369,0.00,2.38,0.00,0.000,6,0.000,0.043,2697,1898,2714,0,0,0,0,0,0,28.83,24.87,28.83
$GC,1512,-1.35,-146.6,151.3,-8.1,238,1521,0.00,2.50,0.00,0.000,4,0.000,0.063,2697,503,2714,0,0,0,0,0,0,28.83,24.82,28.83
$GC,1582,-1.35,-146.6,156.5,-6.8,249,1589,0.00,2.30,0.00,0.000,6,0.000,0.037,2697,1901,2714,0,0,0,0,0,0,28.83,24.91,28.83
$GC,1728,-1.35,-146.6,169.4,-12.1,274,1737,0.00,2.40,0.00,0.000,4,0.000,0.049,2697,3288,2714,0,0,0,0,0,0,28.83,24.89,28.83
$GC,1764,-1.35,-146.6,173.4,-12.6,279,1770,0.00,2.35,0.00,0.000,6,0.000,0.044,2697,1900,2714,0,0,0,0,0,0,28.83,24.89,28.83
$STATE,1823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1823,begin apogee
$GC,1830,-0.36,0.0,180.5,-10.8,289,1965,1.10,0.00,124.45,0.579,6,0.103,0.000,2919,1794,2114,0,0,0,0,0,0,24.84,28.83,23.91
$STATE,1966,end apogee,CONTROL_FINISHED_OK
$STATE,1966,begin climb
$GC,1968,1.43,146.6,186.1,0.0,309,2104,1.80,2.55,125.43,0.561,4,0.073,0.066,3302,400,1519,0,0,0,0,0,0,24.42,24.24,23.87
$GC,2176,1.37,146.6,163.1,16.6,341,2183,0.00,2.35,0.00,0.000,6,0.000,0.037,3311,1805,1517,0,0,0,0,0,0,28.83,24.51,28.83
$GC,2325,1.34,146.6,141.2,14.4,366,2334,0.00,2.58,0.00,0.000,4,0.000,0.067,3311,406,1515,0,0,0,0,0,0,28.83,24.50,28.83
$GC,2410,1.29,146.6,128.5,14.5,380,2420,0.10,2.38,0.00,0.000,6,0.089,0.037,3288,1786,1514,0,0,0,0,0,0,24.55,24.60,28.83
$GC,2564,1.29,146.6,112.1,10.7,405,2570,0.00,2.50,0.00,0.000,4,0.000,0.067,3288,400,1514,0,0,0,0,0,0,28.83,24.56,28.83
$GC,2615,1.26,146.6,105.5,12.8,413,2621,0.00,2.35,0.00,0.000,6,0.000,0.037,3288,1802,1514,0,0,0,0,0,0,28.83,24.65,28.83
$GC,2761,1.26,146.6,86.5,13.6,438,2770,0.00,2.58,0.00,0.000,4,0.000,0.067,3288,402,1513,0,0,0,0,0,0,28.83,24.61,28.83
$GC,2842,1.22,146.6,75.1,13.8,451,2850,0.10,2.35,0.00,0.000,6,0.125,0.037,3270,1805,1513,0,0,0,0,0,0,24.64,24.70,28.83
$GC,2993,1.22,146.6,58.6,10.1,476,3001,0.00,2.58,0.00,0.000,4,0.000,0.068,3270,403,1513,0,0,0,0,0,0,28.83,24.65,28.83
$GC,3103,1.22,146.6,45.3,12.1,494,3112,0.00,2.38,0.00,0.000,6,0.000,0.037,3270,1798,1512,0,0,0,0,0,0,28.83,24.74,28.83
$GC,3187,1.26,175.4,36.6,8.7,507,3219,0.00,0.00,26.55,0.482,6,0.000,0.000,3270,1799,1399,0,0,0,0,0,0,28.83,28.83,24.05
$GC,3294,1.27,183.4,26.8,9.6,523,3311,0.00,2.58,8.52,0.425,4,0.000,0.067,3270,410,1365,0,0,0,0,0,0,28.83,24.50,24.15
$GC,3391,1.27,183.4,14.5,13.0,538,3400,0.00,2.38,0.00,0.000,6,0.000,0.037,3270,1799,1364,0,0,0,0,0,0,28.83,24.69,28.83
$GC,3474,1.27,183.4,6.1,12.2,551,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1804,1365,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3501,end climb,SURFACE_DEPTH_REACHED
$STATE,3501,begin surface coast
$FINISH,0.3,1.020554
$STATE,3533,end surface coast,CONTROL_FINISHED_OK
$STATE,3533,begin surface
$SM_CCo,3555,81.43,0.464,0,0,892,300.00
$SM_GC,1.00,11.55,0.15,81.43,0.036,0.071,0.464,647,1907,892,-10.77,-1.02,300.00,0,0,0,0,0,0,24.72,24.77,23.99
$IRIDIUM_FIX,4707.04,-12241.44,310712,202042
$TT8_MAMPS,0.024717,0.024717
$HUMID,54.96
$INTERNAL_PRESSURE,9.02257
$TCM_TEMP,14.90
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,130.4,69.1
$24V_AH,23.9,0.321
$10V_AH,10.5,0.260
$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,26.150,73.125,284.950,81.425,0.000,0.000,0.000,0.000,3.500,0.000,17.068,1247.554,322.930,425.673,1602.544,115.883,31.301,1023.102,0.000,1591.270,0.000,16.804,0.000
$DEVICE_MAMPS,154.530,78.030,579.105,464.355,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,397.438,255.953,1207.048,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323444
$DATA_FILE_SIZE,36954,560
$CAP_FILE_SIZE,76983,0
$CFSIZE,260165632,258158592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310712,212235,4742.731,-12225.287,11,1.7,27,18.2