version: 66.12
glider: 124
mission: 17
dive: 2
start: 7 14 114 16 28 38
data:
$ID,124
$MISSION,17
$DIVE,2
$N_DIVES,2
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$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,35
$T_MISSION,55
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51915
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,2.53e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-307793.62
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3900
$C_PITCH,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,18
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,183
$ROLL_MAX,3883
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,4045
$C_VBD,3050
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,117
$AH0_10V,65
$MINV_24V,22
$MINV_10V,9.1999998
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-21.504185
$PRESSURE_SLOPE,0.0001157801
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043373066
$SEABIRD_T_H,0.00062566844
$SEABIRD_T_I,2.3683922e-05
$SEABIRD_T_J,2.5145571e-06
$SEABIRD_C_G,-9.8304396
$SEABIRD_C_H,1.0973777
$SEABIRD_C_I,-0.001747182
$SEABIRD_C_J,0.00021959859
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,140714,162242,4724.949,-12221.325,10,1.2,28,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-64.9
$GPS2,140714,162737,4725.011,-12221.383,10,1.9,10,18.1
$SPEED_LIMITS,0.247,0.361
$TGT_NAME,SOUTH
$TGT_LATLONG,4724.700,-12220.980
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.271,-0.239
$KALMAN_X,-133.0,-133.0,-133.0,-23.3,-355.1
$KALMAN_Y,96.1,96.1,96.1,575.6,256.7
$MHEAD_RNG_PITCHd_Wd,115.1,765,-18.5,-14.286,-21.57,2560
$D_GRID,147
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-1.52,-244.4,91,1941,1327,1515,0.0,0.0,0,124,0.00,0.00,-101.38,0.000,16386,0.000,0.000,92,1941,3153,3193,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,129,-1.52,-244.4,92,1941,3194,3115,3.6,-3.2,10,165,8.43,2.38,-18.60,0.000,18692,0.257,0.067,2043,3378,4048,4088,4008,0,0,0,0,0,0,25.60,26.15,26.74
$GC,244,-1.52,-244.4,2043,3378,4088,4009,29.3,-18.0,32,250,0.00,2.28,0.00,0.000,1030,0.000,0.047,2043,1939,4048,4088,4009,0,0,0,0,0,0,28.83,26.17,28.83
$GC,438,-1.52,-244.4,2043,1939,4085,4010,64.6,-16.5,52,444,0.00,2.17,0.00,0.000,516,0.000,0.056,2043,543,4047,4085,4010,0,0,0,0,0,0,28.83,26.06,28.83
$GC,466,-1.52,-244.4,2043,543,4085,4011,70.0,-18.7,57,473,0.00,2.22,0.00,0.000,1030,0.000,0.045,2043,1959,4047,4084,4010,0,0,0,0,0,0,28.83,26.22,28.83
$GC,652,-1.52,-244.4,2043,1959,4083,4011,104.8,-16.3,76,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,1959,4047,4083,4011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,833,-1.52,-244.4,2043,1959,4081,4011,135.0,-16.7,94,838,0.00,2.20,0.00,0.000,260,0.000,0.057,2043,3361,4046,4082,4011,0,0,0,0,0,0,28.83,26.06,28.83
$GC,878,-1.52,-244.4,2043,3361,4081,4011,142.6,-16.8,102,883,0.00,2.25,0.00,0.000,1030,0.000,0.047,2043,1946,4046,4081,4011,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,909,begin apogee
$GC,917,-0.28,0.0,2043,2042,4080,4011,148.5,-16.7,106,1115,0.85,0.08,189.80,0.562,10246,0.122,0.128,2320,1997,3044,2930,3158,0,0,0,0,0,0,25.79,25.15,24.54
$STATE,1117,end apogee,CONTROL_FINISHED_OK
$STATE,1117,begin climb
$GC,1120,1.52,244.4,2319,1997,2929,3154,160.3,0.0,126,1319,1.10,2.35,185.88,0.535,10500,0.056,0.053,2724,3376,2045,1916,2175,0,0,1,0,0,0,25.40,25.18,24.51
$GC,1550,1.30,244.4,2724,3376,1920,2164,108.1,22.7,210,1556,0.28,2.22,0.00,0.000,5126,0.145,0.046,2656,1995,2042,1920,2164,0,0,0,0,0,0,25.63,25.96,28.83
$GC,1745,1.42,303.6,2655,1995,1920,2164,80.7,11.9,230,1797,0.12,2.33,45.90,0.506,10756,0.091,0.060,2727,595,1807,1680,1935,0,0,0,0,0,0,26.35,25.77,25.08
$GC,1833,1.30,303.6,2727,595,1680,1933,68.0,16.7,246,1839,0.22,2.20,0.00,0.000,5126,0.132,0.046,2664,1977,1807,1681,1933,0,0,0,0,0,0,25.68,25.89,28.83
$GC,2028,1.43,367.4,2662,1977,1680,1933,42.1,11.7,266,2087,0.10,0.00,50.72,0.493,10502,0.105,0.000,2709,1977,1547,1402,1692,0,0,0,0,0,0,26.33,28.83,25.02
$GC,2268,1.43,367.4,2708,1978,1402,1693,3.6,15.8,294,2273,0.00,2.25,0.00,0.000,260,0.000,0.054,2709,3410,1547,1402,1692,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,2278,end climb,SURFACE_DEPTH_REACHED
$STATE,2278,begin surface coast
$FINISH,0.5,1.021510
$STATE,2284,end surface coast,CONTROL_FINISHED_OK
$STATE,2284,begin surface
$SM_CCo,2306,12.40,0.047,0,0,1418,400.08
$SM_GC,1.61,7.05,2.40,12.40,0.046,0.047,0.047,95,1955,1418,-10.44,0.96,400.08,0,0,0,0,0,0,25.97,26.01,26.05
$IRIDIUM_FIX,4707.04,-12218.52,170921,021931
$TT8_MAMPS,0.029211,0.029211
$HUMID,71.02
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,19.70
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,111.4,50.6
$SC_FREEKB,4018976
$24V_AH,24.51,1.107
$10V_AH,9.55,0.814
$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,18.150,27.475,472.300,12.400,0.000,0.000,0.000,141.350,6.250,0.000,11.184,563.514,747.391,520.993,611.803,186.710,30.119,993.475,0.000,460.252,0.000,7.121,0.000
$DEVICE_MAMPS,257.040,127.755,561.510,46.665,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2290.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.355,0.000,0.000,0.000
$MEM,204184
$DATA_FILE_SIZE,10099,297
$CAP_FILE_SIZE,51268,0
$CFSIZE,260034560,250867712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2294.73,0x239dd2,7,5
$CURRENT,0.268,308.8,1
$GPS,140714,170830,4725.021,-12221.209,11,1.2,28,18.1