version: 66.12
glider: 124
mission: 17
dive: 21
start: 7 15 114 6 17 6
data:
$ID,124
$MISSION,17
$DIVE,21
$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,-307879.44
$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,25
$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
$GPS1,150714,061019,4726.484,-12223.682,12,2.0,12,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-68.2
$GPS2,150714,061601,4726.546,-12223.657,13,1.4,13,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.632,-12221.732
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.229,-0.199
$KALMAN_X,-3896.7,-266.6,-365.0,1250.3,-492.9
$KALMAN_Y,1952.8,150.9,530.3,1080.7,437.3
$MHEAD_RNG_PITCHd_Wd,109.9,2947,-25.0,-16.667,-28.75,1541
$D_GRID,224
$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,-1.69,-180.8,94,1916,1534,1744,0.0,0.0,0,102,0.00,0.00,-80.12,0.000,16386,0.000,0.000,94,1916,2958,2991,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,94,1916,2992,2925,3.5,-2.1,8,141,8.57,2.40,-17.55,0.000,18692,0.261,0.071,2039,3327,3602,3668,3536,0,0,0,0,0,0,25.37,25.94,26.52
$GC,349,-1.69,-180.8,2039,3327,3667,3537,53.6,-22.1,55,356,0.00,2.28,0.00,0.000,1030,0.000,0.048,2040,1914,3602,3668,3537,0,0,0,0,0,0,28.83,26.06,28.83
$GC,536,-1.69,-180.8,2039,1914,3667,3537,89.1,-18.3,74,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1914,3602,3667,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,717,-1.69,-180.8,2039,1914,3667,3537,120.7,-18.9,92,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1914,3602,3667,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,906,-1.69,-180.8,2039,1914,3666,3537,158.6,-19.5,111,911,0.00,2.30,0.00,0.000,260,0.000,0.057,2039,3330,3601,3666,3537,0,0,0,0,0,0,28.83,26.04,28.83
$GC,954,-1.69,-180.8,2039,3330,3666,3537,167.5,-19.0,120,960,0.00,2.28,0.00,0.000,1030,0.000,0.048,2039,1914,3601,3666,3537,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,1118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1118,begin apogee
$GC,1126,-0.47,0.0,2039,2007,3665,3537,200.3,-19.1,137,1283,0.85,0.00,146.32,0.606,10246,0.141,0.000,2304,2007,2857,2753,2962,0,0,0,0,0,0,25.56,28.83,24.38
$STATE,1284,end apogee,CONTROL_FINISHED_OK
$STATE,1284,begin climb
$GC,1287,1.69,180.8,2304,2007,2752,2962,208.2,0.0,153,1444,1.40,0.00,145.32,0.578,10502,0.088,0.000,2774,2007,2120,1946,2294,0,0,0,0,0,0,25.17,28.83,24.25
$GC,1623,1.73,218.0,2773,2007,1948,2289,168.4,14.2,194,1660,0.00,0.00,30.90,0.555,8198,0.000,0.000,2774,2007,1970,1801,2140,0,0,0,0,0,0,28.83,28.83,24.65
$GC,1843,1.77,247.3,2773,2007,1802,2139,136.4,14.7,216,1874,0.00,2.28,24.83,0.542,8452,0.000,0.055,2774,3401,1851,1684,2018,0,0,0,0,0,0,28.83,25.60,24.84
$GC,1908,1.77,247.3,2776,3401,1689,2018,125.8,16.9,228,1913,0.00,2.30,0.00,0.000,1030,0.000,0.047,2783,1986,1853,1689,2018,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2102,1.77,247.3,2783,1986,1692,2018,90.5,19.9,248,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1986,1855,1692,2018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2282,1.78,255.4,2783,1986,1692,2017,57.7,16.1,266,2293,0.00,0.00,8.73,0.478,8198,0.000,0.000,2784,1986,1818,1658,1979,0,0,0,0,0,0,28.83,28.83,25.17
$GC,2472,1.85,255.4,2783,1986,1656,1973,27.7,18.0,285,2474,0.10,0.00,0.00,0.000,2054,0.106,0.000,2829,1986,1815,1657,1973,0,0,0,0,0,0,26.32,28.83,28.83
$STATE,2630,end climb,SURFACE_DEPTH_REACHED
$STATE,2630,begin surface coast
$FINISH,0.9,1.002550
$STATE,2641,end surface coast,CONTROL_FINISHED_OK
$STATE,2641,begin surface
$SM_CCo,2661,17.23,0.048,0,0,1638,300.00
$SM_GC,2.02,7.43,0.10,17.23,0.050,0.110,0.048,94,1918,1638,-10.59,0.88,300.00,0,0,0,0,0,0,26.04,26.38,26.13
$IRIDIUM_FIX,4707.04,-12229.98,170921,155405
$TT8_MAMPS,0.028462,0.028462
$HUMID,68.15
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.20
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,190.6,55.5
$SC_FREEKB,4011680
$24V_AH,24.25,2.275
$10V_AH,10.01,1.452
$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,18.350,14.100,356.100,17.225,0.000,0.000,0.000,181.800,4.750,0.000,14.041,658.683,1082.695,430.201,653.633,212.920,33.279,911.663,0.000,469.062,0.000,16.672,0.000
$DEVICE_MAMPS,260.865,110.160,605.880,48.195,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2651.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.748,0.000,0.000,0.000
$MEM,204460
$DATA_FILE_SIZE,10101,302
$CAP_FILE_SIZE,52517,0
$CFSIZE,260034560,250216448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,3153.86,0x239dd2,7,5
$CURRENT,0.159,322.0,1
$GPS,150714,070303,4726.474,-12223.410,13,2.7,33,18.1