version: 66.12
glider: 124
mission: 17
dive: 27
start: 7 15 114 11 22 41
data:
$ID,124
$MISSION,17
$DIVE,27
$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,-307886.94
$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,29
$R_STBD_OVSHOOT,23
$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
$GPS1,150714,111609,4725.788,-12222.038,9,2.2,29,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-67.9
$GPS2,150714,112130,4725.786,-12221.995,13,1.3,30,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TTP_SE
$TGT_LATLONG,4725.997,-12222.043
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.108,0.284
$KALMAN_X,-4446.8,-447.9,-65.0,3757.3,164.1
$KALMAN_Y,2267.5,388.1,52.7,-396.3,-225.1
$MHEAD_RNG_PITCHd_Wd,330.5,395,-25.3,-16.667,-29.06,1502
$D_GRID,170
$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,-1.70,-175.8,92,1919,1535,1743,0.0,0.0,0,102,0.00,0.00,-80.30,0.000,16386,0.000,0.000,92,1919,2957,2990,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.71,-180.8,92,1919,2989,2925,3.5,-2.1,8,141,8.45,2.30,-18.33,0.000,18948,0.257,0.070,2033,504,3601,3667,3536,0,0,1,0,0,0,25.39,25.61,26.53
$GC,371,-1.62,-180.8,2033,504,3668,3536,63.7,-22.1,59,378,0.10,2.28,0.00,0.000,3078,0.213,0.049,2054,1925,3602,3668,3537,0,0,0,0,0,0,25.82,26.07,28.83
$GC,557,-1.62,-180.8,2054,1925,3667,3536,99.5,-19.4,78,562,0.00,2.22,0.00,0.000,260,0.000,0.059,2054,3336,3602,3667,3537,0,0,0,0,0,0,28.83,26.03,28.83
$GC,585,-1.62,-180.8,2054,3336,3667,3536,105.0,-19.8,83,592,0.00,2.28,0.00,0.000,1030,0.000,0.049,2055,1918,3602,3667,3537,0,0,0,0,0,0,28.83,26.13,28.83
$GC,772,-1.62,-180.8,2054,1918,3667,3537,137.9,-18.0,102,777,0.00,2.22,0.00,0.000,516,0.000,0.057,2054,503,3602,3667,3537,0,0,0,0,0,0,28.83,26.07,28.83
$GC,799,-1.62,-180.8,2055,503,3667,3537,142.8,-18.1,106,805,0.00,2.28,0.00,0.000,1030,0.000,0.049,2055,1932,3602,3667,3537,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,960,begin apogee
$GC,968,-0.47,0.0,2054,2005,3667,3537,170.9,-17.3,123,1124,0.80,0.00,144.73,0.588,10246,0.141,0.000,2304,2004,2858,2754,2962,0,0,0,0,0,0,25.60,28.83,24.41
$STATE,1126,end apogee,CONTROL_FINISHED_OK
$STATE,1126,begin climb
$GC,1129,1.71,180.8,2304,2004,2752,2962,179.4,0.0,139,1290,1.42,2.47,147.27,0.560,10756,0.089,0.057,2786,581,2119,1947,2291,0,0,1,0,0,0,25.20,24.95,24.30
$GC,1336,1.71,180.8,2786,581,1947,2290,157.6,17.5,178,1343,0.00,2.33,0.00,0.000,1030,0.000,0.046,2786,1991,2118,1947,2290,0,0,0,0,0,0,28.83,25.37,28.83
$GC,1522,1.71,187.7,2786,1991,1951,2284,124.2,16.2,197,1534,0.00,2.30,4.70,0.445,8452,0.000,0.056,2786,3417,2097,1933,2262,0,0,0,0,0,0,28.83,25.77,24.77
$GC,1630,1.71,187.7,2789,3417,1939,2262,105.5,17.3,217,1636,0.00,2.33,0.00,0.000,1030,0.000,0.047,2796,1984,2100,1939,2261,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1825,1.74,206.1,2796,1984,1939,2261,74.7,15.4,237,1847,0.00,2.30,16.98,0.514,8708,0.000,0.059,2805,594,2018,1858,2179,0,0,0,0,0,0,28.83,25.89,25.12
$GC,1862,1.78,239.8,2806,594,1858,2177,69.4,14.4,243,1897,0.00,2.28,28.17,0.514,9222,0.000,0.047,2805,2009,1881,1716,2047,0,0,0,0,0,0,28.83,25.95,24.95
$GC,2087,1.80,257.4,2805,2009,1722,2047,34.3,15.5,269,2109,0.00,2.35,14.57,0.489,8708,0.000,0.058,2810,586,1809,1648,1970,0,0,1,0,0,0,28.83,25.81,25.03
$GC,2157,1.80,257.4,2811,585,1650,1969,22.7,17.2,282,2164,0.00,2.30,0.00,0.000,1030,0.000,0.046,2811,2014,1809,1650,1969,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,2292,end climb,SURFACE_DEPTH_REACHED
$STATE,2292,begin surface coast
$FINISH,1.0,1.017407
$STATE,2301,end surface coast,CONTROL_FINISHED_OK
$STATE,2301,begin surface
$SM_CCo,2322,16.83,0.049,0,0,1638,300.00
$SM_GC,2.24,7.40,0.17,16.83,0.050,0.082,0.049,95,1930,1638,-10.58,1.07,300.00,0,0,1,0,0,0,25.91,26.10,26.00
$IRIDIUM_FIX,4710.21,-12220.22,170921,210613
$TT8_MAMPS,0.029211,0.029211
$HUMID,66.61
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.40
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,150.6,32.7
$SC_FREEKB,4009376
$24V_AH,24.30,2.660
$10V_AH,9.68,1.670
$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,18.175,32.500,356.425,16.825,0.000,0.000,0.000,145.800,5.000,0.000,31.516,607.783,808.563,428.274,639.826,199.475,33.277,889.360,0.000,455.934,0.000,13.134,0.000
$DEVICE_MAMPS,257.040,113.985,588.285,48.960,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2309.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.660,0.000,0.000,0.000
$MEM,204180
$DATA_FILE_SIZE,10149,297
$CAP_FILE_SIZE,51820,0
$CFSIZE,260034560,249999360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$INTR,0,2757.37,0x239dd2,7,5
$CURRENT,0.084,154.9,1
$GPS,150714,120237,4725.964,-12222.039,12,1.7,12,18.1