version: 66.12
glider: 124
mission: 17
dive: 31
start: 7 15 114 14 35 31
data:
$ID,124
$MISSION,17
$DIVE,31
$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,-307891.94
$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,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
$GPS1,150714,142851,4726.021,-12222.036,9,2.3,29,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-68.1
$GPS2,150714,143427,4726.032,-12222.001,14,3.0,34,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.632,-12221.732
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.138,-0.271
$KALMAN_X,-4700.9,-277.6,362.6,3406.0,-13.2
$KALMAN_Y,2245.6,220.0,-529.1,824.1,-33.6
$MHEAD_RNG_PITCHd_Wd,135.0,815,-25.0,-16.667,-28.75,1541
$D_GRID,161
$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,-180.8,94,1915,1534,1743,0.0,0.0,0,103,0.00,0.00,-80.12,0.000,16386,0.000,0.000,94,1915,2941,2973,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,94,1915,2972,2912,3.4,-2.0,8,142,8.52,2.42,-19.00,0.000,18692,0.259,0.072,2037,3337,3601,3666,3536,0,0,0,0,0,0,25.37,25.92,26.51
$GC,317,-1.69,-180.8,2037,3337,3666,3538,48.6,-21.9,48,322,0.00,2.28,0.00,0.000,1030,0.000,0.049,2037,1922,3602,3666,3538,0,0,0,0,0,0,28.83,26.06,28.83
$GC,511,-1.69,-180.8,2037,1923,3666,3537,87.9,-19.8,68,516,0.00,2.30,0.00,0.000,260,0.000,0.057,2037,3337,3602,3666,3538,0,0,0,0,0,0,28.83,26.01,28.83
$GC,575,-1.69,-180.8,2037,3337,3666,3538,99.8,-18.2,80,580,0.00,2.30,0.00,0.000,1030,0.000,0.050,2040,1916,3601,3666,3536,0,0,0,0,0,0,28.83,26.13,28.83
$GC,769,-1.69,-180.8,2037,1916,3665,3538,134.8,-17.9,100,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1916,3601,3665,3538,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,926,begin apogee
$GC,934,-0.47,0.0,2037,2007,3665,3538,162.7,-17.6,116,1090,0.85,0.00,144.80,0.581,10246,0.144,0.000,2300,2007,2858,2754,2962,0,0,0,0,0,0,25.59,28.83,24.44
$STATE,1092,end apogee,CONTROL_FINISHED_OK
$STATE,1092,begin climb
$GC,1095,1.69,180.8,2300,2007,2752,2962,171.3,0.0,132,1251,1.42,0.00,147.52,0.552,10246,0.090,0.000,2775,2007,2121,1949,2293,0,0,0,0,0,0,25.20,28.83,24.32
$GC,1433,1.72,205.3,2775,2007,1949,2287,130.1,15.0,166,1459,0.00,2.28,20.25,0.522,8452,0.000,0.054,2775,3410,2021,1853,2189,0,0,0,0,0,0,28.83,25.55,24.77
$GC,1522,1.72,212.9,2775,3410,1855,2183,115.9,16.2,182,1537,0.00,2.33,7.35,0.473,9222,0.000,0.048,2785,1983,1988,1825,2152,0,0,0,0,0,0,28.83,25.70,24.79
$GC,1726,1.74,227.9,2785,1983,1825,2150,83.2,15.7,204,1748,0.00,2.28,12.98,0.503,8708,0.000,0.059,2786,596,1929,1767,2091,0,0,0,0,0,0,28.83,25.83,25.01
$GC,1762,1.74,229.3,2786,596,1767,2090,77.2,16.6,210,1768,0.00,2.25,0.00,0.000,1030,0.000,0.047,2786,1999,1928,1767,2090,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1958,1.84,258.1,2786,2000,1767,2089,47.1,14.8,230,1990,0.10,2.33,25.58,0.504,10500,0.101,0.056,2832,3408,1806,1648,1964,0,0,0,0,0,0,26.24,25.80,25.08
$GC,2008,1.85,263.2,2833,3407,1651,1963,39.2,16.3,239,2020,0.12,2.30,4.60,0.424,13318,0.174,0.048,2813,1989,1789,1633,1946,0,0,0,0,0,0,25.65,25.85,24.91
$GC,2209,1.85,263.2,2813,1989,1641,1946,6.7,17.2,260,2214,0.00,2.33,0.00,0.000,260,0.000,0.056,2813,3409,1794,1642,1946,0,0,0,0,0,0,28.83,25.91,28.83
$STATE,2230,end climb,SURFACE_DEPTH_REACHED
$STATE,2230,begin surface coast
$FINISH,0.8,1.021706
$STATE,2242,end surface coast,CONTROL_FINISHED_OK
$STATE,2242,begin surface
$SM_CCo,2265,15.25,0.049,0,0,1638,300.00
$SM_GC,2.20,7.40,2.47,15.25,0.050,0.049,0.049,92,1918,1638,-10.59,0.74,300.00,0,0,0,0,0,0,25.93,25.99,26.01
$IRIDIUM_FIX,4657.54,-11842.95,180921,001625
$TT8_MAMPS,0.029211,0.029211
$HUMID,67.01
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,12
$SC_FREEKB,4007840
$24V_AH,24.32,2.906
$10V_AH,9.62,1.811
$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,18.425,28.025,363.075,15.250,0.000,0.000,0.000,156.475,4.250,0.000,35.148,574.106,820.327,443.791,605.587,190.293,33.275,876.591,0.000,412.263,0.000,8.925,0.000
$DEVICE_MAMPS,258.570,76.500,581.400,48.960,0.000,0.000,0.000,117.810,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2249.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.536,0.000,0.000,0.000
$MEM,204168
$DATA_FILE_SIZE,6789,266
$CAP_FILE_SIZE,49310,0
$CFSIZE,260034560,249868288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2916.21,0x239dd2,7,5
$CURRENT,0.070,329.5,1
$GPS,150714,151451,4725.805,-12221.880,15,9.0,35,18.1