version: 66.10
glider: 130
mission: 17
dive: 17
start: 8 1 112 13 22 20
data:
$ID,130
$MISSION,17
$DIVE,17
$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,-115657.42
$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,26
$R_STBD_OVSHOOT,42
$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
$GPS1,010812,131313,4744.366,-12224.764,8,1.6,8,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-67.7
$GPS2,010812,132123,4744.392,-12224.781,27,1.1,45,18.2
$SPEED_LIMITS,0.067,0.260
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.010,-0.260
$KALMAN_X,-483.8,846.2,-156.9,-159.2,37.2
$KALMAN_Y,-6000.5,1228.3,-565.2,7570.1,155.1
$MHEAD_RNG_PITCHd_Wd,164.0,3133,-12.5,-8.000
$D_GRID,178
$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,-47.70,0.000,2,0.000,0.000,648,1902,2147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-1.11,-176.0,2.2,-4.2,6,111,12.02,2.58,-17.58,0.000,4,0.160,0.073,2747,495,2835,0,0,0,0,0,0,24.36,24.46,24.78
$GC,330,-1.09,-176.0,27.8,-9.9,47,338,0.00,2.38,0.00,0.000,6,0.000,0.034,2747,1895,2836,0,0,0,0,0,0,28.83,24.61,28.83
$GC,413,-1.06,-176.0,35.5,-9.3,60,422,0.00,2.45,0.00,0.000,4,0.000,0.047,2747,3293,2836,0,0,0,0,0,0,28.83,24.58,28.83
$GC,479,-1.06,-176.0,40.8,-8.7,70,488,0.00,2.42,0.00,0.000,6,0.000,0.040,2747,1900,2835,0,0,0,0,0,0,28.83,24.60,28.83
$GC,562,-1.06,-176.0,47.5,-9.2,83,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1900,2835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,641,-1.04,-176.0,54.8,-8.4,96,650,0.00,2.42,0.00,0.000,4,0.000,0.045,2747,3288,2835,0,0,0,0,0,0,28.83,24.61,28.83
$GC,676,-1.04,-176.0,58.0,-9.2,101,683,0.00,2.38,0.00,0.000,6,0.000,0.040,2747,1894,2835,0,0,0,0,0,0,28.83,24.63,28.83
$GC,823,-1.04,-176.0,72.4,-9.0,126,831,0.00,2.45,0.00,0.000,4,0.000,0.046,2747,3289,2835,0,0,0,0,0,0,28.83,24.63,28.83
$GC,869,-1.04,-176.0,76.6,-9.4,133,876,0.00,2.38,0.00,0.000,6,0.000,0.040,2747,1900,2835,0,0,0,0,0,0,28.83,24.64,28.83
$GC,1016,-1.04,-176.0,88.6,-7.7,158,1025,0.00,2.53,0.00,0.000,4,0.000,0.061,2747,501,2836,0,0,0,0,0,0,28.83,24.62,28.83
$GC,1075,-1.02,-176.0,93.2,-8.7,167,1082,0.12,2.33,0.00,0.000,6,0.125,0.033,2768,1910,2835,0,0,0,0,0,0,24.60,24.70,28.83
$GC,1224,-1.02,-176.0,105.8,-8.9,192,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1910,2835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1373,-1.02,-176.0,120.0,-10.1,217,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1910,2835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1519,-1.02,-176.0,134.2,-9.8,242,1527,0.00,2.55,0.00,0.000,4,0.000,0.061,2768,501,2835,0,0,0,0,0,0,28.83,24.66,28.83
$GC,1577,-1.02,-176.0,139.8,-10.3,251,1584,0.00,2.33,0.00,0.000,6,0.000,0.034,2768,1899,2835,0,0,0,0,0,0,28.83,24.74,28.83
$GC,1727,-1.02,-176.0,154.1,-8.6,276,1735,0.00,2.55,0.00,0.000,4,0.000,0.063,2768,498,2835,0,0,0,0,0,0,28.83,24.67,28.83
$GC,1743,-1.02,-176.0,155.9,-9.8,278,1751,0.00,2.38,0.00,0.000,6,0.000,0.034,2768,1904,2835,0,0,0,0,0,0,28.83,24.75,28.83
$GC,1895,-1.02,-176.0,168.6,-8.5,303,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1904,2835,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2011,begin apogee
$GC,2018,-0.36,0.0,178.2,-7.7,323,2172,0.70,0.00,148.12,0.576,6,0.093,0.000,2912,1797,2114,0,0,0,0,0,0,24.68,28.83,23.77
$STATE,2173,end apogee,CONTROL_FINISHED_OK
$STATE,2174,begin climb
$GC,2177,1.11,176.0,182.8,0.0,346,2340,1.55,2.58,151.55,0.558,4,0.082,0.065,3230,404,1396,0,0,0,0,0,0,24.24,24.11,23.75
$GC,2363,1.08,176.0,171.5,9.5,373,2370,0.00,2.35,0.00,0.000,6,0.000,0.034,3230,1791,1394,0,0,0,0,0,0,28.83,24.34,28.83
$GC,2512,1.09,204.1,158.4,7.1,398,2548,0.00,2.62,26.12,0.529,4,0.000,0.067,3230,402,1281,0,0,0,0,0,0,28.83,24.18,23.82
$GC,2592,1.06,204.1,150.9,10.0,410,2601,0.00,2.42,0.00,0.000,6,0.000,0.034,3230,1805,1280,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2742,1.06,204.1,138.2,8.8,435,2749,0.00,2.55,0.00,0.000,4,0.000,0.066,3230,403,1279,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2793,1.04,204.1,133.1,10.8,443,2800,0.00,2.35,0.00,0.000,6,0.000,0.034,3230,1805,1279,0,0,0,0,0,0,28.83,24.52,28.83
$GC,2942,1.04,204.1,118.4,9.3,468,2950,0.00,2.58,0.00,0.000,4,0.000,0.065,3230,409,1279,0,0,0,0,0,0,28.83,24.48,28.83
$GC,3012,1.01,204.1,110.3,12.8,479,3018,0.00,2.33,0.00,0.000,6,0.000,0.034,3230,1800,1278,0,0,0,0,0,0,28.83,24.56,28.83
$GC,3158,1.01,204.1,94.6,9.5,504,3167,0.00,2.58,0.00,0.000,4,0.000,0.066,3230,406,1278,0,0,0,0,0,0,28.83,24.50,28.83
$GC,3228,0.99,204.1,87.6,10.5,515,3235,0.00,2.35,0.00,0.000,6,0.000,0.034,3231,1807,1278,0,0,0,0,0,0,28.83,24.59,28.83
$GC,3377,0.99,204.1,72.8,10.4,540,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1811,1278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3526,0.99,204.1,57.2,10.4,565,3533,0.00,2.55,0.00,0.000,4,0.000,0.066,3230,397,1278,0,0,0,0,0,0,28.83,24.55,28.83
$GC,3624,0.99,204.1,46.3,10.3,581,3632,0.00,2.40,0.00,0.000,6,0.000,0.034,3231,1805,1277,0,0,0,0,0,0,28.83,24.65,28.83
$GC,3707,0.99,204.1,39.4,8.8,594,3716,0.00,2.42,0.00,0.000,4,0.000,0.047,3231,3191,1277,0,0,0,0,0,0,28.83,24.61,28.83
$GC,3725,0.99,204.1,37.9,8.2,596,3734,0.00,2.42,0.00,0.000,6,0.000,0.044,3230,1807,1277,0,0,0,0,0,0,28.83,24.63,28.83
$GC,3808,0.99,204.1,30.5,8.7,609,3817,0.00,2.58,0.00,0.000,4,0.000,0.067,3230,398,1277,0,0,0,0,0,0,28.83,24.58,28.83
$GC,3881,0.99,204.1,23.3,9.8,620,3890,0.00,2.38,0.00,0.000,6,0.000,0.034,3230,1809,1277,0,0,0,0,0,0,28.83,24.68,28.83
$GC,3965,1.00,214.2,16.1,7.7,633,3982,0.00,2.55,9.93,0.436,4,0.000,0.064,3230,396,1241,0,0,0,0,0,0,28.83,24.44,24.13
$GC,4010,1.00,214.2,11.9,10.0,639,4019,0.00,2.38,0.00,0.000,6,0.000,0.034,3230,1787,1241,0,0,0,0,0,0,28.83,24.60,28.83
$GC,4094,1.04,246.1,5.0,7.0,652,4128,0.00,0.45,30.52,0.467,3,0.000,0.059,3230,1545,1110,0,0,0,0,0,0,28.83,28.83,23.94
$STATE,4128,end climb,SURFACE_DEPTH_REACHED
$STATE,4129,begin surface coast
$FINISH,0.1,1.009697
$STATE,4178,end surface coast,CONTROL_FINISHED_OK
$STATE,4178,begin surface
$SM_CCo,4200,40.80,0.456,0,0,892,300.00
$SM_GC,0.82,11.48,0.62,40.80,0.036,0.037,0.456,644,1913,892,-10.75,-0.85,300.00,0,0,0,0,0,0,24.55,24.58,23.90
$IRIDIUM_FIX,4735.69,-12217.68,010812,121204
$TT8_MAMPS,0.024717,0.024717
$HUMID,52.71
$INTERNAL_PRESSURE,8.99327
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.7,1.413
$10V_AH,10.4,1.506
$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,25.875,79.725,366.250,40.800,0.000,25.044,32.157,283.181,0.000,0.000,46.611,1453.014,379.490,457.354,2247.945,203.428,33.222,1173.861,0.000,1899.203,0.000,0.535,0.000
$DEVICE_MAMPS,159.885,73.440,576.045,455.940,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,473.383,306.689,1441.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43625,664
$CAP_FILE_SIZE,80089,0
$CFSIZE,260165632,257568768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010812,143349,4744.372,-12224.812,7,1.5,7,18.2