version: 66.12
glider: 124
mission: 17
dive: 18
start: 7 15 114 3 52 38
data:
$ID,124
$MISSION,17
$DIVE,18
$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,-307875.69
$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,29
$R_STBD_OVSHOOT,27
$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
$GPS1,150714,034413,4726.261,-12222.146,10,1.2,10,18.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-68.4
$GPS2,150714,035131,4726.339,-12222.222,14,1.0,14,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.632,-12221.732
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.141,-0.269
$KALMAN_X,-2261.4,-267.2,-21.0,1067.1,-208.4
$KALMAN_Y,778.6,19.0,-142.6,2669.7,391.3
$MHEAD_RNG_PITCHd_Wd,128.0,1447,-25.0,-16.667,-28.75,1541
$D_GRID,145
$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,-1.69,-180.8,90,1915,1542,1739,0.0,0.0,0,103,0.00,0.00,-79.90,0.000,16386,0.000,0.000,90,1916,2963,2993,2933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,90,1916,2993,2934,3.6,-2.5,8,141,8.55,2.35,-16.85,0.000,18692,0.260,0.070,2037,3338,3600,3658,3542,0,0,0,0,0,0,25.37,25.89,26.48
$GC,149,-1.43,-180.8,2036,3338,3658,3543,12.1,-19.1,15,157,0.22,2.30,0.00,0.000,3078,0.168,0.049,2098,1917,3600,3658,3543,0,0,0,0,0,0,25.55,25.96,28.83
$GC,336,-1.43,-180.8,2097,1917,3658,3544,46.4,-14.6,34,342,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,1917,3600,3657,3544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,526,-1.52,-180.8,2097,1917,3657,3544,70.6,-12.6,53,532,0.00,2.22,0.00,0.000,516,0.000,0.056,2097,504,3600,3657,3544,0,0,0,0,0,0,28.83,26.01,28.83
$GC,565,-1.52,-180.8,2096,505,3656,3544,76.8,-17.8,60,571,0.00,2.28,0.00,0.000,1030,0.000,0.048,2097,1931,3600,3656,3544,0,0,0,0,0,0,28.83,26.08,28.83
$GC,752,-1.60,-180.8,2097,1932,3655,3544,100.2,-12.1,79,758,0.12,2.33,0.00,0.000,4612,0.117,0.057,2049,510,3598,3655,3542,0,0,0,0,0,0,26.39,26.03,28.83
$GC,812,-1.60,-180.8,2049,509,3655,3544,109.9,-16.6,90,819,0.00,2.28,0.00,0.000,1030,0.000,0.047,2049,1933,3599,3654,3544,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1000,-1.60,-180.8,2049,1933,3654,3544,140.4,-20.0,109,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,1933,3599,3654,3544,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1025,begin apogee
$GC,1033,-0.47,0.0,2049,2005,3654,3544,146.8,-21.3,112,1189,0.82,0.00,144.07,0.564,10246,0.145,0.000,2301,2005,2858,2752,2964,0,0,0,0,0,0,25.53,28.83,24.46
$STATE,1190,end apogee,CONTROL_FINISHED_OK
$STATE,1190,begin climb
$GC,1194,1.69,180.8,2302,2006,2750,2964,159.8,0.0,128,1350,1.42,2.33,146.27,0.541,10500,0.092,0.054,2776,3408,2119,1952,2286,0,0,0,0,0,0,25.22,25.00,24.33
$GC,1561,1.69,180.8,2776,3408,1958,2276,105.6,23.5,196,1568,0.00,2.30,0.00,0.000,1030,0.000,0.048,2785,1999,2117,1959,2276,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1747,1.70,192.0,2785,1999,1958,2275,72.4,15.9,215,1763,0.00,2.28,9.32,0.468,8708,0.000,0.059,2786,580,2075,1918,2233,0,0,0,0,0,0,28.83,25.89,25.08
$GC,1843,1.76,245.6,2786,580,1918,2232,58.6,13.1,233,1895,0.00,2.28,44.70,0.502,9222,0.000,0.046,2786,2004,1857,1696,2018,0,0,0,0,0,0,28.83,25.98,24.89
$GC,2074,2.00,364.5,2786,2003,1699,2018,32.9,8.8,261,2173,0.17,0.00,94.90,0.482,10502,0.072,0.000,2857,2004,1375,1183,1567,0,0,0,0,0,0,26.05,28.83,24.65
$STATE,2251,end climb,SURFACE_DEPTH_REACHED
$STATE,2251,begin surface coast
$FINISH,0.8,1.009829
$STATE,2262,end surface coast,CONTROL_FINISHED_OK
$STATE,2263,begin surface
$SM_CCo,2344,0.00,0.000,0,0,1370,366.23
$SM_GC,1.58,7.62,0.17,0.00,0.048,0.079,0.000,90,1917,1370,-10.61,0.82,366.23,0,0,1,0,0,0,25.60,25.72,28.83
$IRIDIUM_FIX,4710.21,-12220.22,170921,133845
$TT8_MAMPS,0.028462,0.028462
$HUMID,67.20
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,19.30
$XPDR_PINGS,11
$SC_FREEKB,4012832
$24V_AH,24.33,2.093
$10V_AH,9.68,1.343
$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,18.950,23.200,439.275,0.000,0.000,0.000,0.000,219.525,4.000,0.000,15.670,560.532,889.637,474.030,679.980,196.066,33.288,1007.991,0.000,441.435,0.000,11.431,0.000
$DEVICE_MAMPS,260.100,111.690,563.805,0.000,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2268.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.314,0.000,0.000,0.000
$MEM,204148
$DATA_FILE_SIZE,10105,285
$CAP_FILE_SIZE,51729,0
$CFSIZE,260034560,250327040
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2623.28,0x239dd2,7,5
$INTR,1,86.11,0x23699e,0,24
$CURRENT,0.298,319.3,1
$GPS,150714,043254,4726.380,-12222.314,31,1.5,31,18.1