version: 66.12
glider: 124
mission: 17
dive: 12
start: 7 14 114 23 20 56
data:
$ID,124
$MISSION,17
$DIVE,12
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,225
$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,40
$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,0.0021200001
$HD_B,0.0104
$HD_C,4.7500002e-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,-307868.09
$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,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,17
$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,2862
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012000001
$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,120
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$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
$GPS1,140714,231413,4725.693,-12221.806,9,1.3,9,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-67.3
$GPS2,140714,231949,4725.686,-12221.790,11,1.6,11,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TTP_SE
$TGT_LATLONG,4725.997,-12222.043
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.097,0.288
$KALMAN_X,-548.7,-510.6,120.6,-5.3,106.9
$KALMAN_Y,-780.9,419.9,-290.7,2774.2,-420.4
$MHEAD_RNG_PITCHd_Wd,321.0,658,-25.0,-16.667,-28.75,1541
$D_GRID,168
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.69,-180.8,91,1912,1539,1742,0.0,0.0,0,93,0.00,0.00,-69.82,0.000,16386,0.000,0.000,92,1913,2781,2794,2768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.69,-180.8,92,1913,2794,2768,3.0,-1.6,7,140,8.52,2.25,-26.12,0.000,18948,0.259,0.070,2037,504,3602,3658,3546,0,0,0,0,0,0,25.37,25.91,26.47
$GC,371,-1.60,-180.8,2036,504,3637,3571,62.3,-20.1,60,379,0.10,2.28,0.00,0.000,3078,0.201,0.048,2059,1915,3603,3635,3572,0,0,0,0,0,0,25.82,26.06,28.83
$GC,558,-1.60,-180.8,2059,1916,3629,3578,98.0,-17.1,79,563,0.00,2.28,0.00,0.000,516,0.000,0.058,2060,512,3603,3629,3578,0,0,0,0,0,0,28.83,26.03,28.83
$GC,602,-1.60,-180.8,2060,511,3628,3578,105.7,-17.5,87,607,0.00,2.25,0.00,0.000,1030,0.000,0.048,2060,1924,3603,3628,3578,0,0,0,0,0,0,28.83,26.11,28.83
$GC,796,-1.60,-180.8,2060,1924,3627,3581,138.0,-16.2,107,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,1924,3604,3627,3581,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,933,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,933,begin apogee
$GC,941,-0.47,0.0,2060,2008,3625,3581,161.8,-16.9,121,1097,0.77,0.00,144.10,0.583,10246,0.138,0.000,2303,2008,2858,2750,2966,0,0,0,0,0,0,25.61,28.83,24.44
$STATE,1099,end apogee,CONTROL_FINISHED_OK
$STATE,1099,begin climb
$GC,1102,1.69,180.8,2303,2008,2749,2966,171.8,0.0,137,1260,1.40,2.47,145.30,0.552,11012,0.087,0.056,2785,591,2118,1957,2279,0,0,1,0,0,0,25.21,24.98,24.32
$GC,1287,1.71,204.1,2785,591,1956,2276,155.7,15.1,164,1314,0.00,2.33,18.80,0.529,9222,0.000,0.045,2785,2003,2025,1864,2187,0,0,0,0,0,0,28.83,25.32,24.46
$GC,1494,1.71,204.1,2785,2003,1865,2183,121.0,17.1,187,1500,0.00,2.33,0.00,0.000,516,0.000,0.058,2786,595,2024,1866,2183,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1553,1.73,215.4,2789,595,1866,2182,111.2,15.9,198,1571,0.00,2.28,10.10,0.503,9222,0.000,0.047,2786,2004,1980,1825,2136,0,0,0,0,0,0,28.83,25.84,24.92
$GC,1750,1.76,245.7,2784,2004,1826,2133,81.5,14.7,219,1782,0.00,2.35,25.65,0.527,8452,0.000,0.057,2786,3419,1857,1704,2011,0,0,0,0,0,0,28.83,25.73,24.98
$GC,1810,1.77,253.4,2786,3419,1709,2010,72.3,16.2,230,1828,0.00,2.33,8.57,0.484,9222,0.000,0.048,2796,1986,1826,1676,1977,0,0,0,0,0,0,28.83,25.81,24.92
$GC,2007,1.80,272.5,2796,1985,1680,1977,40.8,15.4,251,2029,0.00,2.33,16.85,0.506,8708,0.000,0.060,2798,585,1748,1603,1893,0,0,0,0,0,0,28.83,25.80,25.04
$GC,2104,1.91,294.9,2798,585,1603,1891,26.1,15.2,269,2127,0.10,2.28,14.65,0.478,11270,0.102,0.046,2842,2004,1656,1510,1802,0,0,0,0,0,0,25.91,25.93,25.00
$STATE,2232,end climb,SURFACE_DEPTH_REACHED
$STATE,2233,begin surface coast
$FINISH,0.8,1.021315
$STATE,2244,end surface coast,CONTROL_FINISHED_OK
$STATE,2244,begin surface
$SM_CCo,2264,1.30,0.050,0,0,1638,300.00
$SM_GC,2.93,7.50,0.17,1.30,0.050,0.080,0.050,92,1916,1638,-10.59,0.79,300.00,0,0,1,0,0,0,25.89,26.04,25.96
$IRIDIUM_FIX,4707.04,-12220.22,170921,090330
$TT8_MAMPS,0.028462,0.028462
$HUMID,68.46
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,160.1,11.4
$SC_FREEKB,4015136
$24V_AH,24.32,1.725
$10V_AH,9.42,1.137
$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,18.400,28.025,384.025,1.300,0.000,0.000,0.000,181.475,5.250,0.000,11.965,585.509,762.212,436.820,645.534,192.339,33.305,920.313,0.000,446.678,0.000,17.491,0.000
$DEVICE_MAMPS,258.570,101.745,582.930,50.490,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2251.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.526,0.000,0.000,0.000
$MEM,204176
$DATA_FILE_SIZE,10148,285
$CAP_FILE_SIZE,52119,0
$CFSIZE,260034560,250527744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$INTR,0,2813.90,0x239dd2,7,5
$CURRENT,0.102,155.1,1
$GPS,140714,235957,4725.814,-12221.910,10,2.9,30,18.1