version: 66.12
glider: 124
mission: 17
dive: 34
start: 7 15 114 16 58 32
data:
$ID,124
$MISSION,17
$DIVE,34
$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,-307895.69
$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,24
$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
$GPS1,150714,165124,4726.151,-12222.166,10,1.2,27,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-68.2
$GPS2,150714,165727,4726.213,-12222.221,12,3.4,32,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TTP_SE
$TGT_LATLONG,4725.997,-12222.043
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.158,-0.259
$KALMAN_X,-5118.1,-172.2,175.8,3631.7,-166.0
$KALMAN_Y,2833.3,146.0,-251.1,367.0,249.2
$MHEAD_RNG_PITCHd_Wd,123.9,457,-25.0,-16.667,-28.75,1541
$D_GRID,167
$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,-180.8,91,1916,1538,1749,0.0,0.0,0,102,0.00,0.00,-79.93,0.000,16386,0.000,0.000,91,1916,2974,3009,2940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,91,1916,3009,2941,3.5,-2.1,8,136,8.52,0.00,-17.35,0.000,18438,0.257,0.000,2035,1879,3600,3666,3535,0,0,0,0,0,0,25.38,28.83,26.53
$GC,315,-1.57,-180.8,2034,1879,3667,3537,50.7,-22.4,29,317,0.12,0.00,0.00,0.000,2054,0.200,0.000,2065,1879,3602,3668,3537,0,0,0,0,0,0,25.96,28.83,28.83
$GC,496,-1.57,-180.8,2064,1879,3668,3537,84.9,-18.4,47,501,0.00,2.33,0.00,0.000,260,0.000,0.059,2065,3340,3602,3667,3537,0,0,0,0,0,0,28.83,25.98,28.83
$GC,564,-1.57,-180.8,2064,3340,3667,3537,96.0,-14.8,60,571,0.00,2.28,0.00,0.000,1030,0.000,0.049,2065,1922,3602,3667,3537,0,0,0,0,0,0,28.83,26.10,28.83
$GC,750,-1.57,-180.8,2065,1923,3667,3537,124.2,-14.7,79,756,0.00,2.22,0.00,0.000,516,0.000,0.058,2065,506,3602,3667,3537,0,0,0,0,0,0,28.83,26.06,28.83
$GC,775,-1.57,-180.8,2064,506,3667,3537,128.2,-16.2,83,780,0.00,2.28,0.00,0.000,1030,0.000,0.048,2065,1933,3602,3667,3537,0,0,0,0,0,0,28.83,26.13,28.83
$GC,970,-1.57,-180.8,2064,1933,3665,3537,161.3,-17.9,103,975,0.00,2.22,0.00,0.000,260,0.000,0.060,2065,3336,3601,3666,3537,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,1001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1001,begin apogee
$GC,1011,-0.47,0.0,2065,1984,3666,3537,167.4,-16.9,109,1165,0.77,0.00,142.32,0.580,10246,0.138,0.000,2307,1984,2859,2755,2964,0,0,0,0,0,0,25.60,28.83,24.45
$STATE,1167,end apogee,CONTROL_FINISHED_OK
$STATE,1167,begin climb
$GC,1170,1.69,180.8,2307,1984,2752,2963,177.2,0.0,125,1327,1.40,2.42,145.15,0.557,10500,0.089,0.055,2775,3408,2119,1945,2293,0,0,1,0,0,0,25.22,24.96,24.32
$GC,1365,1.69,180.8,2775,3407,1947,2291,158.8,17.1,158,1372,0.00,2.35,0.00,0.000,1030,0.000,0.047,2786,1988,2119,1947,2291,0,0,0,0,0,0,28.83,25.33,28.83
$GC,1552,1.72,206.9,2785,1988,1949,2285,131.1,14.9,177,1578,0.00,2.38,21.20,0.526,8452,0.000,0.054,2786,3413,2015,1847,2183,0,0,0,0,0,0,28.83,25.61,24.84
$GC,1621,1.72,206.9,2785,3413,1848,2178,118.4,18.7,190,1629,0.00,2.33,0.00,0.000,1030,0.000,0.047,2795,1990,2013,1848,2178,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1807,1.72,206.9,2795,1991,1848,2177,84.3,17.4,209,1813,0.00,2.22,0.00,0.000,516,0.000,0.059,2804,594,2012,1848,2177,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1886,1.74,223.8,2804,594,1849,2176,71.8,15.5,224,1908,0.00,2.25,14.85,0.503,9222,0.000,0.047,2806,2000,1945,1784,2106,0,0,0,0,0,0,28.83,25.99,25.10
$GC,2097,1.74,223.8,2804,2000,1788,2106,36.8,17.9,247,2102,0.00,2.22,0.00,0.000,260,0.000,0.056,2805,3410,1946,1787,2106,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2218,1.75,236.9,2804,3410,1788,2104,17.9,15.8,270,2231,0.10,2.28,5.32,0.080,13318,0.179,0.048,2792,1990,1896,1738,2054,0,0,0,0,0,0,25.87,26.06,25.90
$STATE,2319,end climb,SURFACE_DEPTH_REACHED
$STATE,2319,begin surface coast
$FINISH,1.3,1.021506
$STATE,2327,end surface coast,CONTROL_FINISHED_OK
$STATE,2327,begin surface
$SM_CCo,2348,25.98,0.049,0,0,1638,300.00
$SM_GC,1.32,7.30,0.10,25.98,0.049,0.116,0.049,91,1924,1638,-10.60,1.02,300.00,0,0,0,0,0,0,26.03,26.33,26.11
$IRIDIUM_FIX,4710.21,-12220.22,180921,024051
$TT8_MAMPS,0.029211,0.029211
$HUMID,66.97
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,10
$SC_FREEKB,4006688
$24V_AH,24.32,3.087
$10V_AH,9.69,1.918
$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,18.225,32.100,328.850,25.975,0.000,0.000,0.000,182.950,3.750,0.000,32.798,608.426,865.164,423.865,659.791,197.559,33.274,902.275,0.000,442.477,0.000,8.924,0.000
$DEVICE_MAMPS,257.040,116.280,579.870,48.960,0.000,0.000,0.000,120.105,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2335.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.185,0.000,0.000,0.000
$MEM,204156
$DATA_FILE_SIZE,10135,282
$CAP_FILE_SIZE,52445,0
$CFSIZE,260034560,249761792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2826.60,0x239dd2,7,5
$CURRENT,0.211,318.6,1
$GPS,150714,173921,4726.150,-12222.225,10,3.4,30,18.1