version: 66.10
glider: 130
mission: 17
dive: 4
start: 7 31 112 21 31 40
data:
$ID,130
$MISSION,17
$DIVE,4
$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,-115641.05
$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,26
$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,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
$GPS1,310712,212235,4742.731,-12225.287,11,1.7,27,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-67.9
$GPS2,310712,213043,4742.610,-12225.412,10,2.0,10,18.2
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.095,0.242
$KALMAN_X,-495.6,-377.6,-207.9,349.2,-221.9
$KALMAN_Y,-1156.6,-937.6,-584.7,1637.0,-498.4
$MHEAD_RNG_PITCHd_Wd,3.1,2508,-17.5,-10.000
$D_GRID,189
$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,-47.35,0.000,2,0.000,0.000,646,1909,2176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-1.43,-146.6,2.4,-4.8,6,103,11.52,2.53,-13.07,0.000,4,0.157,0.073,2678,491,2713,0,0,0,0,0,0,24.46,24.55,24.90
$GC,136,-1.37,-146.6,9.2,-10.3,15,146,0.08,2.40,0.00,0.000,6,0.121,0.034,2694,1913,2714,0,0,0,0,0,0,24.56,24.68,28.83
$GC,220,-1.37,-146.6,17.0,-10.9,28,229,0.00,2.55,0.00,0.000,4,0.000,0.060,2694,503,2715,0,0,0,0,0,0,28.83,24.62,28.83
$GC,292,-1.34,-146.6,25.7,-12.5,39,300,0.00,2.35,0.00,0.000,6,0.000,0.034,2695,1899,2715,0,0,0,0,0,0,28.83,24.71,28.83
$GC,375,-1.34,-146.6,37.0,-14.3,52,384,0.00,2.42,0.00,0.000,4,0.000,0.048,2695,3288,2715,0,0,0,0,0,0,28.83,24.69,28.83
$GC,463,-1.34,-146.6,48.6,-11.7,66,473,0.00,2.40,0.00,0.000,6,0.000,0.042,2694,1902,2715,0,0,0,0,0,0,28.83,24.72,28.83
$GC,545,-1.34,-146.6,58.8,-13.4,79,552,0.00,2.47,0.00,0.000,4,0.000,0.061,2694,497,2715,0,0,0,0,0,0,28.83,24.68,28.83
$GC,584,-1.34,-146.6,63.5,-13.0,85,591,0.00,2.33,0.00,0.000,6,0.000,0.035,2694,1907,2715,0,0,0,0,0,0,28.83,24.76,28.83
$GC,730,-1.34,-146.6,80.3,-11.8,110,739,0.00,2.55,0.00,0.000,4,0.000,0.062,2694,494,2715,0,0,0,0,0,0,28.83,24.70,28.83
$GC,766,-1.32,-146.6,84.3,-12.7,115,772,0.00,2.33,0.00,0.000,6,0.000,0.035,2694,1903,2715,0,0,0,0,0,0,28.83,24.79,28.83
$GC,914,-1.32,-146.6,103.1,-12.3,140,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1904,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1068,-1.32,-146.6,120.9,-10.2,165,1075,0.00,2.50,0.00,0.000,4,0.000,0.062,2694,495,2715,0,0,0,0,0,0,28.83,24.74,28.83
$GC,1095,-1.32,-146.6,124.1,-10.6,169,1102,0.00,2.33,0.00,0.000,6,0.000,0.036,2695,1904,2715,0,0,0,0,0,0,28.83,24.82,28.83
$GC,1248,-1.32,-146.6,139.0,-8.5,194,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1905,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1404,-1.32,-146.6,152.9,-8.6,219,1410,0.00,2.50,0.00,0.000,4,0.000,0.063,2694,494,2715,0,0,0,0,0,0,28.83,24.77,28.83
$GC,1435,-1.32,-146.6,155.5,-8.8,223,1442,0.00,2.33,0.00,0.000,6,0.000,0.036,2695,1899,2715,0,0,0,0,0,0,28.83,24.85,28.83
$GC,1584,-1.32,-146.6,169.6,-9.7,248,1592,0.00,2.42,0.00,0.000,4,0.000,0.050,2694,3293,2714,0,0,0,0,0,0,28.83,24.82,28.83
$GC,1623,-1.32,-146.6,173.1,-8.4,254,1632,0.00,2.40,0.00,0.000,6,0.000,0.044,2694,1906,2715,0,0,0,0,0,0,28.83,24.84,28.83
$STATE,1690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1690,begin apogee
$GC,1697,-0.36,0.0,180.0,-11.9,265,1831,1.10,0.00,124.85,0.580,6,0.104,0.000,2916,1795,2113,0,0,0,0,0,0,24.76,28.83,23.87
$STATE,1832,end apogee,CONTROL_FINISHED_OK
$STATE,1832,begin climb
$GC,1835,1.43,146.6,186.4,0.0,285,1971,1.85,2.58,126.07,0.560,4,0.079,0.067,3310,403,1516,0,0,0,0,0,0,24.37,24.22,23.85
$GC,2009,1.37,146.6,171.0,15.1,311,2016,0.00,2.35,0.00,0.000,6,0.000,0.036,3310,1802,1514,0,0,0,0,0,0,28.83,24.45,28.83
$GC,2157,1.34,146.6,151.4,12.3,336,2166,0.00,2.60,0.00,0.000,4,0.000,0.067,3310,399,1512,0,0,0,0,0,0,28.83,24.46,28.83
$GC,2228,1.30,146.6,141.4,14.2,347,2235,0.15,2.35,0.00,0.000,6,0.108,0.037,3283,1801,1512,0,0,0,0,0,0,24.51,24.57,28.83
$GC,2377,1.30,146.6,122.1,12.2,372,2385,0.00,2.58,0.00,0.000,4,0.000,0.068,3283,410,1511,0,0,0,0,0,0,28.83,24.54,28.83
$GC,2470,1.27,146.6,109.0,15.2,387,2477,0.00,2.33,0.00,0.000,6,0.000,0.037,3283,1797,1511,0,0,0,0,0,0,28.83,24.62,28.83
$GC,2617,1.27,146.6,89.2,11.3,412,2626,0.00,2.58,0.00,0.000,4,0.000,0.069,3282,403,1511,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2676,1.24,146.6,82.9,11.2,421,2682,0.00,2.35,0.00,0.000,6,0.000,0.037,3282,1800,1511,0,0,0,0,0,0,28.83,24.65,28.83
$GC,2825,1.33,216.2,70.3,6.8,446,2894,0.00,2.58,61.75,0.503,4,0.000,0.068,3283,402,1232,0,0,0,0,0,0,28.83,24.30,23.95
$GC,2999,1.36,245.8,54.2,8.6,474,3035,0.00,2.40,27.62,0.480,6,0.000,0.037,3283,1798,1110,0,0,0,0,0,0,28.83,24.60,23.97
$GC,3182,1.40,276.7,37.7,8.6,503,3216,0.10,2.65,28.17,0.471,4,0.076,0.070,3314,402,986,0,0,0,0,0,0,24.70,24.31,23.98
$GC,3297,1.40,276.7,22.2,17.5,520,3306,0.00,2.40,0.00,0.000,6,0.000,0.037,3314,1799,984,0,0,0,0,0,0,28.83,24.59,28.83
$GC,3380,1.40,276.7,6.4,16.5,533,3389,0.00,2.58,0.00,0.000,4,0.000,0.068,3314,406,984,0,0,0,0,0,0,28.83,24.55,28.83
$STATE,3402,end climb,SURFACE_DEPTH_REACHED
$STATE,3402,begin surface coast
$FINISH,0.0,1.019274
$STATE,3421,end surface coast,CONTROL_FINISHED_OK
$STATE,3421,begin surface
$SM_CCo,3446,17.40,0.444,0,0,892,300.00
$SM_GC,0.61,11.77,2.60,17.40,0.035,0.036,0.444,647,1911,892,-10.77,-0.85,300.00,0,0,0,0,0,0,24.64,24.65,24.05
$IRIDIUM_FIX,4716.56,-12302.50,310712,202030
$TT8_MAMPS,0.024717,0.024717
$HUMID,55.23
$INTERNAL_PRESSURE,9.02257
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,155.5,52.4
$24V_AH,23.9,0.402
$10V_AH,10.5,0.342
$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,26.575,73.875,368.475,17.400,0.000,27.993,40.824,294.258,3.500,0.000,12.892,1185.750,298.306,410.540,1887.963,178.118,32.222,1019.021,0.000,1520.979,0.000,25.952,0.000
$DEVICE_MAMPS,156.825,78.030,579.870,444.465,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,383.239,240.564,1141.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323600
$DATA_FILE_SIZE,33635,539
$CAP_FILE_SIZE,70853,0
$CFSIZE,260165632,258125824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310712,223035,4742.548,-12225.459,31,1.2,31,18.2