version: 66.12
glider: 124
mission: 17
dive: 4
start: 7 14 114 18 1 13
data:
$ID,124
$MISSION,17
$DIVE,4
$N_DIVES,4
$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,-8
$MAX_BUOY,185
$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,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-307825.62
$T_RSLEEP,1
$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,1920
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,30
$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,13
$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
$GPS1,140714,175313,4725.104,-12221.175,10,1.9,10,18.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-66.8
$GPS2,140714,180001,4725.163,-12221.209,14,1.2,14,18.1
$SPEED_LIMITS,0.247,0.316
$TGT_NAME,MID
$TGT_LATLONG,4725.256,-12221.567
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.247,0.012
$KALMAN_X,-352.7,-329.5,-305.9,769.6,-134.0
$KALMAN_Y,502.6,417.7,370.2,-141.8,163.5
$MHEAD_RNG_PITCHd_Wd,260.5,481,-26.8,-14.286,-29.17,1243
$D_GRID,91
$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,-1.72,-117.2,102,1914,1329,1519,0.0,0.0,0,112,0.00,0.00,-90.25,0.000,16386,0.000,0.000,102,1915,2929,2953,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-1.85,-180.8,102,1914,2951,2907,3.1,-2.1,9,154,8.15,2.25,-22.73,0.000,18948,0.259,0.067,1972,503,3788,3817,3759,0,0,0,0,0,0,25.49,26.03,26.66
$GC,309,-1.73,-180.8,1972,502,3816,3762,51.5,-27.8,46,316,0.12,2.25,0.00,0.000,3078,0.189,0.047,2001,1914,3789,3816,3762,0,0,0,0,0,0,25.75,26.09,28.83
$STATE,472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,472,begin apogee
$GC,480,-0.44,0.0,2001,2029,3814,3763,91.6,-23.9,63,625,0.90,0.00,140.02,0.529,10246,0.145,0.000,2278,2028,3047,2964,3130,0,0,0,0,0,0,25.52,28.83,24.60
$STATE,629,end apogee,CONTROL_FINISHED_OK
$STATE,629,begin climb
$GC,632,1.85,180.8,2278,2029,2961,3128,101.3,0.0,78,779,1.50,0.00,138.77,0.514,10502,0.086,0.000,2787,2028,2310,2185,2436,0,0,0,0,0,0,25.33,28.83,24.50
$GC,958,1.91,213.6,2786,2029,2181,2426,76.5,11.6,114,986,0.00,0.00,25.55,0.502,8198,0.000,0.000,2787,2028,2177,2054,2300,0,0,0,0,0,0,28.83,28.83,24.89
$GC,1168,1.95,231.1,2786,2028,2052,2295,49.3,12.8,135,1189,0.00,2.38,14.62,0.490,8708,0.000,0.054,2795,584,2103,1978,2229,0,0,0,0,0,0,28.83,25.86,25.08
$GC,1237,1.97,241.4,2796,584,1978,2229,40.2,13.4,148,1255,0.00,2.25,9.38,0.477,9222,0.000,0.045,2795,1984,2061,1934,2188,0,0,0,0,0,0,28.83,25.95,25.03
$GC,1435,2.06,257.7,2795,1985,1934,2186,15.5,12.9,169,1448,0.12,2.33,6.25,0.073,10500,0.088,0.054,2854,3412,1999,1872,2127,0,0,0,0,0,0,26.25,25.98,25.92
$GC,1498,1.99,257.7,2854,3411,1876,2126,4.9,18.5,180,1506,0.20,2.28,0.00,0.000,5126,0.165,0.047,2812,1987,2001,1876,2126,0,0,0,0,0,0,25.70,26.07,28.83
$STATE,1512,end climb,SURFACE_DEPTH_REACHED
$STATE,1512,begin surface coast
$FINISH,0.7,1.021407
$STATE,1523,end surface coast,CONTROL_FINISHED_OK
$STATE,1523,begin surface
$SM_CCo,1543,16.92,0.047,0,0,1826,300.00
$SM_GC,3.49,7.35,0.10,16.92,0.047,0.112,0.047,89,1920,1826,-10.47,0.90,300.00,0,0,0,0,0,0,26.03,26.30,26.08
$IRIDIUM_FIX,4710.21,-12224.61,170921,042354
$TT8_MAMPS,0.029211,0.029211
$HUMID,69.80
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,19.50
$XPDR_PINGS,40
$SC_FREEKB,4018208
$24V_AH,24.50,1.228
$10V_AH,9.88,0.880
$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,18.350,13.975,334.600,16.925,0.000,0.000,0.000,0.000,10.000,0.000,14.824,387.174,471.642,417.997,302.443,73.943,32.263,625.564,0.000,280.859,0.000,0.996,0.000
$DEVICE_MAMPS,258.570,112.455,528.615,47.430,0.000,0.000,0.000,0.000,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1504.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,27.424,0.000,0.000,0.000
$MEM,204320
$DATA_FILE_SIZE,6836,183
$CAP_FILE_SIZE,50795,0
$CFSIZE,260034560,250798080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2748.39,0x239dd2,7,5
$CURRENT,0.085,331.4,1
$GPS,140714,182812,4725.220,-12221.521,9,1.2,14,18.1