version: 66.12
glider: 124
mission: 17
dive: 24
start: 7 15 114 8 56 55
data:
$ID,124
$MISSION,17
$DIVE,24
$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,-307883.19
$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,27
$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
$GPS1,150714,084957,4726.091,-12222.793,9,2.4,29,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-67.0
$GPS2,150714,085551,4726.148,-12222.834,12,2.9,32,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.632,-12221.732
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.268,-0.143
$KALMAN_X,-4289.9,-473.1,-513.8,3022.8,32.7
$KALMAN_Y,2179.8,375.2,653.7,-230.2,-112.0
$MHEAD_RNG_PITCHd_Wd,107.2,1679,-25.0,-16.667,-28.75,1541
$D_GRID,178
$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,-180.8,91,1915,1433,1694,0.0,0.0,0,103,0.00,0.00,-80.05,0.000,16386,0.000,0.000,91,1915,2855,2879,2831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,91,1915,2879,2832,3.2,-1.6,8,146,8.55,2.35,-23.23,0.000,18692,0.259,0.071,2041,3334,3599,3664,3535,0,0,0,0,0,0,25.37,25.89,26.49
$GC,239,-1.60,-180.8,2041,3334,3664,3537,27.7,-22.5,33,247,0.00,2.30,0.00,0.000,1030,0.000,0.049,2041,1918,3600,3664,3537,0,0,0,0,0,0,28.83,26.01,28.83
$GC,426,-1.50,-180.8,2041,1918,3665,3537,66.5,-22.6,52,432,0.12,2.33,0.00,0.000,2308,0.178,0.056,2077,3337,3600,3664,3537,0,0,0,0,0,0,25.98,25.98,28.83
$GC,454,-1.50,-180.8,2077,3337,3664,3537,73.0,-20.1,57,462,0.00,2.28,0.00,0.000,1030,0.000,0.049,2078,1920,3600,3664,3537,0,0,0,0,0,0,28.83,26.08,28.83
$GC,641,-1.50,-180.8,2077,1920,3663,3537,106.7,-18.5,76,646,0.00,2.30,0.00,0.000,260,0.000,0.058,2078,3333,3600,3664,3537,0,0,0,0,0,0,28.83,26.03,28.83
$GC,685,-1.58,-180.8,2077,3333,3663,3537,114.0,-15.9,84,691,0.00,2.28,0.00,0.000,1030,0.000,0.049,2078,1914,3600,3664,3537,0,0,0,0,0,0,28.83,26.15,28.83
$GC,880,-1.58,-180.8,2081,1914,3663,3537,144.8,-16.2,104,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,1913,3600,3664,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1061,-1.58,-180.8,2077,1914,3663,3537,169.5,-11.5,122,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,1914,3600,3663,3537,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1117,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1117,begin apogee
$GC,1125,-0.47,0.0,2077,2006,3663,3537,177.6,-13.6,128,1281,0.73,0.00,144.80,0.582,10246,0.136,0.000,2306,2007,2857,2753,2962,0,0,0,0,0,0,25.66,28.83,24.44
$STATE,1283,end apogee,CONTROL_FINISHED_OK
$STATE,1283,begin climb
$GC,1286,1.69,180.8,2306,2007,2752,2962,181.7,0.0,144,1442,1.38,0.00,148.12,0.558,10246,0.082,0.000,2774,2007,2123,1945,2301,0,0,0,0,0,0,25.21,28.83,24.30
$GC,1624,1.70,189.5,2774,2007,1944,2292,144.2,16.1,178,1638,0.00,0.00,7.65,0.480,8198,0.000,0.000,2774,2007,2086,1914,2258,0,0,0,0,0,0,28.83,28.83,24.80
$GC,1821,1.70,191.2,2774,2007,1915,2255,111.0,16.6,198,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2007,2084,1915,2254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2011,1.73,219.3,2773,2007,1916,2253,81.8,14.8,217,2043,0.00,2.33,25.35,0.515,8452,0.000,0.055,2774,3412,1962,1794,2131,0,0,0,0,0,0,28.83,25.84,25.08
$GC,2077,1.73,219.3,2774,3412,1795,2127,72.0,16.8,229,2083,0.00,2.30,0.00,0.000,1030,0.000,0.048,2784,1989,1960,1795,2126,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2272,1.76,246.5,2783,1989,1795,2126,43.2,14.9,249,2300,0.00,0.00,22.62,0.497,8198,0.000,0.000,2784,1989,1854,1688,2020,0,0,0,0,0,0,28.83,28.83,25.10
$GC,2483,1.90,283.4,2784,1989,1693,2020,9.8,14.2,270,2501,0.15,0.00,15.52,0.059,10246,0.081,0.000,2846,1988,1705,1546,1864,0,0,0,0,0,0,26.18,28.83,25.95
$STATE,2528,end climb,SURFACE_DEPTH_REACHED
$STATE,2529,begin surface coast
$FINISH,0.9,1.009149
$STATE,2540,end surface coast,CONTROL_FINISHED_OK
$STATE,2540,begin surface
$SM_CCo,2563,6.60,0.049,0,0,1638,300.00
$SM_GC,3.06,7.50,0.10,6.60,0.051,0.113,0.049,96,1921,1638,-10.58,0.93,300.00,0,0,0,0,0,0,25.95,26.22,26.01
$IRIDIUM_FIX,4707.04,-12222.91,170921,183229
$TT8_MAMPS,0.028462,0.028462
$HUMID,67.01
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.30
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,161.0,25.8
$SC_FREEKB,4010528
$24V_AH,24.30,2.474
$10V_AH,9.92,1.564
$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,18.425,18.725,364.075,6.600,0.000,0.000,0.000,175.175,2.250,0.000,32.824,615.813,1033.169,449.569,640.460,200.917,33.283,907.130,0.000,431.261,0.000,11.829,0.000
$DEVICE_MAMPS,259.335,113.220,582.165,48.960,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2546.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.302,0.000,0.000,0.000
$MEM,204164
$DATA_FILE_SIZE,10112,276
$CAP_FILE_SIZE,52722,0
$CFSIZE,260034560,250093568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,3223.28,0x239dd2,7,5
$CURRENT,0.024, 54.2,1
$GPS,150714,094103,4725.955,-12222.290,13,2.4,33,18.1