version: 66.10
glider: 130
mission: 17
dive: 12
start: 8 1 112 7 4 9
data:
$ID,130
$MISSION,17
$DIVE,12
$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,-115651.14
$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,11
$R_STBD_OVSHOOT,21
$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
$GPS1,010812,065603,4744.244,-12224.662,12,2.2,31,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-65.6
$GPS2,010812,070312,4744.233,-12224.722,12,1.0,12,18.2
$SPEED_LIMITS,0.067,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.135,-0.222
$KALMAN_X,-802.5,80.6,99.2,741.6,548.8
$KALMAN_Y,-4082.4,106.6,128.4,5796.1,697.8
$MHEAD_RNG_PITCHd_Wd,193.0,625,-12.5,-8.000
$D_GRID,176
$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,-47.70,0.000,2,0.000,0.000,644,3179,2165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-1.11,-176.0,2.3,-4.4,6,103,11.93,0.25,-17.33,0.000,4,0.158,0.200,2746,3323,2834,0,0,0,0,0,0,24.38,24.52,24.81
$GC,374,-1.11,-176.0,29.5,-9.0,55,384,0.00,2.50,0.00,0.000,6,0.000,0.042,2746,1891,2835,0,0,0,0,0,0,28.83,24.60,28.83
$GC,458,-1.11,-176.0,37.4,-9.8,68,467,0.00,2.50,0.00,0.000,4,0.000,0.047,2746,3309,2835,0,0,0,0,0,0,28.83,24.60,28.83
$GC,488,-1.11,-176.0,40.4,-9.7,72,496,0.00,2.45,0.00,0.000,6,0.000,0.041,2746,1900,2835,0,0,0,0,0,0,28.83,24.62,28.83
$GC,571,-1.09,-176.0,48.1,-8.9,85,580,0.00,2.47,0.00,0.000,4,0.000,0.047,2746,3314,2835,0,0,0,0,0,0,28.83,24.63,28.83
$GC,595,-1.09,-176.0,50.4,-9.3,88,603,0.00,2.47,0.00,0.000,6,0.000,0.041,2745,1898,2835,0,0,0,0,0,0,28.83,24.63,28.83
$GC,745,-1.09,-176.0,62.6,-7.9,113,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1898,2835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,891,-1.09,-176.0,74.1,-7.6,138,900,0.00,2.53,0.00,0.000,4,0.000,0.063,2746,502,2835,0,0,0,0,0,0,28.83,24.63,28.83
$GC,973,-1.07,-176.0,81.0,-8.7,151,979,0.00,2.35,0.00,0.000,6,0.000,0.034,2746,1922,2835,0,0,0,0,0,0,28.83,24.71,28.83
$GC,1119,-1.07,-176.0,93.5,-9.2,176,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1924,2835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1268,-1.07,-176.0,106.4,-9.0,201,1275,0.00,2.55,0.00,0.000,4,0.000,0.061,2746,488,2835,0,0,0,0,0,0,28.83,24.65,28.83
$GC,1359,-1.04,-176.0,115.0,-9.4,216,1369,0.08,2.38,0.00,0.000,6,0.101,0.034,2763,1899,2835,0,0,0,0,0,0,24.65,24.75,28.83
$GC,1512,-1.04,-176.0,126.6,-7.7,241,1519,0.00,2.40,0.00,0.000,4,0.000,0.047,2762,3289,2835,0,0,0,0,0,0,28.83,24.72,28.83
$GC,1563,-1.04,-176.0,130.5,-7.2,249,1570,0.00,2.40,0.00,0.000,6,0.000,0.041,2762,1891,2835,0,0,0,0,0,0,28.83,24.73,28.83
$GC,1712,-1.04,-176.0,142.5,-8.9,274,1720,0.00,2.45,0.00,0.000,4,0.000,0.047,2763,3288,2835,0,0,0,0,0,0,28.83,24.73,28.83
$GC,1781,-1.04,-176.0,148.5,-9.5,285,1788,0.00,2.38,0.00,0.000,6,0.000,0.041,2763,1892,2835,0,0,0,0,0,0,28.83,24.74,28.83
$GC,1930,-1.04,-176.0,160.1,-7.3,310,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1892,2835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2081,-1.04,-176.0,172.1,-7.5,335,2087,0.00,2.42,0.00,0.000,4,0.000,0.045,2762,3294,2835,0,0,0,0,0,0,28.83,24.76,28.83
$GC,2120,-1.04,-176.0,174.4,-5.6,341,2127,0.00,2.38,0.00,0.000,6,0.000,0.042,2763,1900,2835,0,0,0,0,0,0,28.83,24.77,28.83
$STATE,2146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2146,begin apogee
$GC,2152,-0.36,0.0,176.2,-6.6,345,2307,0.70,0.00,148.12,0.573,6,0.081,0.000,2913,1792,2114,0,0,0,0,0,0,24.73,28.83,23.80
$STATE,2308,end apogee,CONTROL_FINISHED_OK
$STATE,2310,begin climb
$GC,2312,1.11,176.0,178.0,0.0,368,2475,1.48,2.45,151.85,0.552,4,0.061,0.044,3233,3186,1396,0,0,0,0,0,0,24.32,24.18,23.78
$GC,2486,1.09,176.0,165.1,9.2,393,2493,0.00,2.45,0.00,0.000,6,0.000,0.044,3233,1803,1395,0,0,0,0,0,0,28.83,24.32,28.83
$GC,2636,1.07,176.0,150.8,9.7,418,2645,0.00,2.60,0.00,0.000,4,0.000,0.067,3233,398,1391,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2729,1.03,176.0,141.2,10.3,433,2736,0.00,2.35,0.00,0.000,6,0.000,0.034,3233,1791,1390,0,0,0,0,0,0,28.83,24.51,28.83
$GC,2878,1.03,176.0,127.3,8.3,458,2887,0.00,2.58,0.00,0.000,4,0.000,0.067,3233,399,1391,0,0,0,0,0,0,28.83,24.47,28.83
$GC,2903,1.00,176.0,124.7,10.2,461,2909,0.00,2.35,0.00,0.000,6,0.000,0.034,3233,1805,1390,0,0,0,0,0,0,28.83,24.55,28.83
$GC,3052,0.98,176.0,108.9,10.6,486,3062,0.12,2.60,0.00,0.000,4,0.106,0.065,3206,398,1389,0,0,0,0,0,0,24.56,24.50,28.83
$GC,3146,0.98,176.0,98.5,11.5,501,3152,0.00,2.35,0.00,0.000,6,0.000,0.034,3205,1802,1390,0,0,0,0,0,0,28.83,24.59,28.83
$GC,3296,0.98,176.0,83.8,9.8,526,3304,0.00,2.60,0.00,0.000,4,0.000,0.067,3205,394,1390,0,0,0,0,0,0,28.83,24.56,28.83
$GC,3354,0.98,176.0,78.0,9.6,535,3361,0.00,2.38,0.00,0.000,6,0.000,0.035,3205,1810,1390,0,0,0,0,0,0,28.83,24.62,28.83
$GC,3504,1.01,196.9,65.6,7.4,560,3532,0.00,2.62,19.00,0.485,4,0.000,0.067,3205,403,1311,0,0,0,0,0,0,28.83,24.32,23.99
$GC,3599,1.01,196.9,57.7,8.2,575,3606,0.00,2.33,0.00,0.000,6,0.000,0.034,3205,1797,1311,0,0,0,0,0,0,28.83,24.58,28.83
$GC,3751,1.05,229.8,46.2,7.0,600,3792,0.00,2.62,31.33,0.485,4,0.000,0.067,3205,396,1177,0,0,0,0,0,0,28.83,24.26,23.92
$GC,3855,1.05,229.8,37.8,8.5,615,3864,0.00,2.40,0.00,0.000,6,0.000,0.034,3205,1805,1176,0,0,0,0,0,0,28.83,24.56,28.83
$GC,3939,1.09,264.4,31.7,6.9,628,3980,0.12,2.58,32.33,0.474,4,0.062,0.065,3251,397,1036,0,0,0,0,0,0,24.67,24.25,23.92
$GC,4037,1.09,264.4,21.8,10.6,642,4047,0.00,2.38,0.00,0.000,6,0.000,0.034,3252,1784,1034,0,0,0,0,0,0,28.83,24.53,28.83
$GC,4121,1.09,264.4,13.0,10.3,655,4130,0.00,2.47,0.00,0.000,4,0.000,0.047,3252,3197,1034,0,0,0,0,0,0,28.83,24.55,28.83
$GC,4139,1.09,264.4,11.1,10.0,657,4148,0.00,2.45,0.00,0.000,6,0.000,0.045,3252,1803,1034,0,0,0,0,0,0,28.83,24.56,28.83
$STATE,4221,end climb,SURFACE_DEPTH_REACHED
$STATE,4221,begin surface coast
$FINISH,-0.0,1.015396
$STATE,4260,end surface coast,CONTROL_FINISHED_OK
$STATE,4260,begin surface
$SM_CCo,4282,26.17,0.451,0,0,891,300.00
$SM_GC,1.12,11.43,0.15,26.17,0.032,0.068,0.451,646,1906,891,-10.74,-1.19,300.00,0,0,0,0,0,0,24.62,24.65,23.96
$IRIDIUM_FIX,4735.69,-11946.29,010812,060648
$TT8_MAMPS,0.024717,0.024717
$HUMID,53.30
$INTERNAL_PRESSURE,8.99327
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,23.8,1.039
$10V_AH,10.4,1.049
$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,25.850,81.750,382.625,26.175,0.000,31.044,33.357,254.853,0.000,0.000,14.693,1483.425,390.754,447.019,2228.693,201.535,33.229,1166.854,0.000,1927.762,0.000,0.769,0.000
$DEVICE_MAMPS,157.590,199.665,572.985,451.350,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,481.032,313.289,1461.845,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323608
$DATA_FILE_SIZE,43570,676
$CAP_FILE_SIZE,80103,0
$CFSIZE,260165632,257785856
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010812,081649,4743.583,-12224.955,11,1.4,11,18.2