version: 66.12
glider: 124
mission: 17
dive: 15
start: 7 15 114 1 38 11
data:
$ID,124
$MISSION,17
$DIVE,15
$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,-307871.84
$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,30
$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,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
$GPS1,150714,013118,4726.023,-12222.073,8,1.2,13,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-67.8
$GPS2,150714,013700,4726.101,-12222.173,12,1.9,17,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TTP_SE
$TGT_LATLONG,4725.997,-12222.043
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.227,-0.179
$KALMAN_X,-1353.7,-348.0,248.9,36.5,-151.0
$KALMAN_Y,-524.9,163.4,-525.9,3773.9,53.1
$MHEAD_RNG_PITCHd_Wd,121.3,252,-25.7,-16.667,-29.36,1464
$D_GRID,163
$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,21,-1.72,-170.9,94,1915,1538,1744,0.0,0.0,0,94,0.00,0.00,-70.50,0.000,16386,0.000,0.000,94,1915,2792,2807,2777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.73,-180.8,94,1915,2806,2778,3.1,-1.9,7,135,8.48,0.00,-25.08,0.000,18694,0.259,0.000,2032,1877,3601,3659,3544,0,0,0,0,0,0,25.41,28.83,26.53
$GC,315,-1.65,-180.8,2032,1877,3659,3546,49.6,-24.6,31,320,0.00,2.30,0.00,0.000,260,0.000,0.057,2032,3327,3602,3659,3546,0,0,0,0,0,0,28.83,25.96,28.83
$GC,335,-1.65,-180.8,2032,3327,3659,3546,54.1,-23.2,34,341,0.00,2.28,0.00,0.000,1030,0.000,0.049,2032,1914,3603,3660,3546,0,0,0,0,0,0,28.83,26.06,28.83
$GC,520,-1.65,-180.8,2032,1914,3659,3546,90.9,-18.8,53,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1914,3602,3659,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,700,-1.65,-180.8,2032,1914,3658,3546,124.1,-19.7,71,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1914,3602,3658,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,880,-1.65,-180.8,2032,1914,3658,3546,158.2,-18.6,89,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,1914,3602,3658,3546,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,907,begin apogee
$GC,915,-0.47,0.0,2032,2009,3658,3546,163.7,-17.9,92,1071,0.88,0.00,144.40,0.579,10246,0.143,0.000,2304,2009,2857,2752,2963,0,0,0,0,0,0,25.56,28.83,24.44
$STATE,1073,end apogee,CONTROL_FINISHED_OK
$STATE,1073,begin climb
$GC,1076,1.73,180.8,2303,2008,2750,2963,173.2,0.0,108,1231,1.45,0.00,144.30,0.550,10246,0.088,0.000,2789,2009,2118,1952,2284,0,0,0,0,0,0,25.21,28.83,24.31
$GC,1413,1.77,212.7,2789,2009,1956,2279,132.6,14.4,142,1445,0.00,2.35,25.73,0.524,8452,0.000,0.055,2789,3410,1989,1829,2150,0,0,0,0,0,0,28.83,25.51,24.74
$GC,1495,1.77,212.7,2789,3410,1831,2148,119.3,18.5,157,1503,0.00,2.33,0.00,0.000,1030,0.000,0.047,2798,1993,1989,1831,2148,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1681,1.77,212.7,2798,1993,1831,2148,87.4,18.5,176,1687,0.00,2.30,0.00,0.000,260,0.000,0.056,2798,3403,1989,1831,2148,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1772,1.77,212.7,2797,3403,1835,2144,68.5,21.9,193,1780,0.00,2.28,0.00,0.000,1030,0.000,0.048,2806,1990,1989,1835,2144,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1959,1.78,228.0,2806,1991,1835,2144,36.6,15.6,212,1980,0.00,2.28,13.20,0.482,8708,0.000,0.059,2812,597,1928,1776,2081,0,0,0,0,0,0,28.83,26.01,25.22
$GC,2016,1.90,268.5,2811,597,1778,2081,28.0,13.8,222,2051,0.00,2.22,30.17,0.486,9222,0.000,0.046,2811,1994,1765,1613,1918,0,0,0,0,0,0,28.83,26.04,25.06
$STATE,2227,end climb,SURFACE_DEPTH_REACHED
$STATE,2227,begin surface coast
$FINISH,0.9,1.013636
$STATE,2238,end surface coast,CONTROL_FINISHED_OK
$STATE,2238,begin surface
$SM_CCo,2259,12.27,0.048,0,0,1638,300.00
$SM_GC,2.99,7.43,0.17,12.27,0.050,0.084,0.048,91,1920,1638,-10.60,0.93,300.00,0,0,0,0,0,0,25.90,26.09,25.98
$IRIDIUM_FIX,4707.04,-12220.22,170921,112441
$TT8_MAMPS,0.029211,0.029211
$HUMID,67.56
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,19.30
$XPDR_PINGS,11
$SC_FREEKB,4013984
$24V_AH,24.31,1.906
$10V_AH,9.83,1.240
$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,18.225,18.675,357.800,12.275,0.000,0.000,0.000,180.725,4.500,0.000,18.093,554.279,872.350,430.205,588.871,191.335,33.308,872.460,0.000,384.474,0.000,14.508,0.000
$DEVICE_MAMPS,258.570,84.150,579.105,48.195,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2244.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.588,0.000,0.000,0.000
$MEM,204148
$DATA_FILE_SIZE,6811,248
$CAP_FILE_SIZE,47888,0
$CFSIZE,260034560,250433536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2589.02,0x239dd2,7,5
$CURRENT,0.156,318.4,1
$GPS,150714,021701,4726.013,-12222.026,14,1.0,14,18.1