version: 66.12
glider: 124
mission: 17
dive: 23
start: 7 15 114 8 3 11
data:
$ID,124
$MISSION,17
$DIVE,23
$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,-307881.94
$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,28
$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
$GPS1,150714,075618,4726.312,-12223.173,10,1.6,10,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-68.1
$GPS2,150714,080206,4726.310,-12223.233,11,1.4,16,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.632,-12221.732
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.260,-0.156
$KALMAN_X,-4122.9,-451.7,-583.7,2403.2,-79.8
$KALMAN_Y,2060.6,334.2,749.8,138.0,10.7
$MHEAD_RNG_PITCHd_Wd,108.8,2261,-25.0,-16.667,-28.75,1541
$D_GRID,211
$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,-180.8,90,1912,1534,1744,0.0,0.0,0,93,0.00,0.00,-70.05,0.000,16386,0.000,0.000,90,1913,2752,2767,2737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.69,-180.8,89,1913,2766,2738,3.0,-2.0,7,142,8.52,0.00,-29.33,0.000,18438,0.257,0.000,2035,1879,3599,3664,3534,0,0,0,0,0,0,25.37,28.83,26.48
$GC,324,-1.58,-180.8,2035,1879,3664,3535,47.4,-22.2,30,330,0.12,2.22,0.00,0.000,2564,0.204,0.055,2070,513,3599,3664,3535,0,0,0,0,0,0,25.89,25.96,28.83
$GC,374,-1.52,-180.8,2070,513,3664,3536,59.0,-23.8,39,380,0.00,2.25,0.00,0.000,1030,0.000,0.048,2070,1917,3600,3664,3536,0,0,0,0,0,0,28.83,26.05,28.83
$GC,560,-1.52,-180.8,2069,1917,3663,3536,95.8,-16.2,58,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,1917,3600,3664,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,750,-1.52,-180.8,2069,1917,3663,3535,125.5,-15.0,77,756,0.00,2.22,0.00,0.000,260,0.000,0.057,2070,3330,3599,3663,3536,0,0,0,0,0,0,28.83,26.03,28.83
$GC,840,-1.59,-180.8,2070,3330,3662,3536,140.7,-16.1,93,846,0.00,2.25,0.00,0.000,1030,0.000,0.049,2070,1922,3599,3665,3534,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1036,-1.59,-180.8,2070,1923,3663,3536,173.7,-15.6,113,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,1922,3599,3663,3536,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1192,begin apogee
$GC,1200,-0.47,0.0,2070,2008,3663,3536,200.4,-16.5,129,1355,0.75,0.00,143.77,0.598,10246,0.142,0.000,2302,2008,2858,2752,2964,0,0,0,0,0,0,25.58,28.83,24.40
$STATE,1357,end apogee,CONTROL_FINISHED_OK
$STATE,1357,begin climb
$GC,1360,1.69,180.8,2302,2008,2751,2964,206.7,0.0,145,1520,1.42,2.45,146.77,0.571,10756,0.092,0.057,2784,597,2119,1947,2292,0,0,1,0,0,0,25.18,24.93,24.27
$GC,1545,1.69,180.8,2784,596,1947,2291,187.5,17.8,179,1550,0.00,2.33,0.00,0.000,1030,0.000,0.047,2784,2000,2119,1947,2291,0,0,0,0,0,0,28.83,25.26,28.83
$GC,1739,1.69,180.8,2784,2000,1951,2286,153.0,17.7,199,1744,0.00,2.25,0.00,0.000,260,0.000,0.054,2784,3412,2118,1951,2286,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1836,1.70,196.4,2784,3412,1954,2279,137.0,15.6,217,1858,0.00,2.30,13.40,0.516,9222,0.000,0.047,2794,1986,2056,1893,2220,0,0,0,0,0,0,28.83,25.84,24.95
$GC,2038,1.72,211.9,2794,1986,1892,2216,107.4,15.6,239,2059,0.00,2.25,12.93,0.512,8708,0.000,0.060,2800,597,1995,1836,2154,0,0,0,0,0,0,28.83,25.85,25.06
$GC,2103,1.72,211.9,2799,596,1835,2152,96.2,17.2,251,2109,0.00,2.28,0.00,0.000,1030,0.000,0.047,2800,2006,1994,1836,2152,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2298,1.78,257.6,2799,2007,1835,2150,67.3,13.6,271,2344,0.00,2.33,38.20,0.517,8708,0.000,0.057,2805,598,1809,1649,1969,0,0,1,0,0,0,28.83,25.71,25.01
$GC,2353,1.85,316.6,2805,598,1650,1968,60.2,12.8,281,2409,0.00,2.28,49.88,0.507,9222,0.000,0.047,2806,2004,1568,1397,1740,0,0,0,0,0,0,28.83,25.79,24.72
$GC,2598,1.85,316.6,2805,2004,1394,1737,12.0,19.4,311,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2004,1566,1395,1737,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2644,end climb,SURFACE_DEPTH_REACHED
$STATE,2644,begin surface coast
$FINISH,1.0,1.021503
$STATE,2655,end surface coast,CONTROL_FINISHED_OK
$STATE,2655,begin surface
$SM_CCo,2736,0.00,0.000,0,0,1565,318.15
$SM_GC,1.99,7.43,0.20,0.00,0.049,0.074,0.000,91,1915,1565,-10.61,0.74,318.15,0,0,0,0,0,0,25.81,25.98,28.83
$IRIDIUM_FIX,4707.04,-12224.61,170921,173906
$TT8_MAMPS,0.028462,0.028462
$HUMID,67.64
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,19.20
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,190.8,27.8
$SC_FREEKB,4010912
$24V_AH,24.27,2.412
$10V_AH,9.39,1.527
$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,18.250,27.850,404.950,0.000,0.000,0.000,0.000,183.350,5.500,0.000,17.116,649.162,1086.648,459.808,701.350,199.801,33.276,978.210,0.000,489.286,0.000,22.350,0.000
$DEVICE_MAMPS,257.040,146.115,598.230,0.000,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2663.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.656,0.000,0.000,0.000
$MEM,204156
$DATA_FILE_SIZE,10133,317
$CAP_FILE_SIZE,56229,0
$CFSIZE,260034560,250130432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$CURRENT,0.014,317.7,1
$GPS,150714,084957,4726.091,-12222.793,9,2.4,29,18.1