version: 66.12
glider: 124
mission: 17
dive: 36
start: 7 15 114 18 34 6
data:
$ID,124
$MISSION,17
$DIVE,36
$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,240
$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,-307898.19
$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,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
$GPS1,150714,182800,4726.114,-12222.166,42,1.2,42,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-67.1
$GPS2,150714,183301,4726.180,-12222.207,10,1.9,10,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,HEADING
$TGT_LATLONG,4720.780,-12236.010
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.112,-0.283
$KALMAN_X,-5504.0,-134.5,-88.5,4258.7,-204.0
$KALMAN_Y,3369.0,144.7,134.7,-611.8,321.8
$MHEAD_RNG_PITCHd_Wd,190.0,20000,-25.0,-16.667,-28.75,1541
$D_GRID,168
$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,-180.8,94,1912,1532,1745,0.0,0.0,0,102,0.00,0.00,-80.07,0.000,16386,0.000,0.000,94,1913,2971,3006,2937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,94,1913,3004,2937,3.5,-2.1,8,141,8.52,2.30,-17.52,0.000,18948,0.258,0.071,2041,504,3601,3667,3535,0,0,1,0,0,0,25.37,25.60,26.54
$GC,226,-1.57,-180.8,2040,504,3668,3536,28.1,-23.0,30,232,0.12,2.28,0.00,0.000,3078,0.190,0.049,2070,1920,3602,3668,3536,0,0,0,0,0,0,25.72,26.03,28.83
$GC,421,-1.57,-180.8,2070,1921,3668,3536,65.6,-18.6,50,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,1921,3601,3667,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,601,-1.57,-180.8,2070,1921,3667,3536,97.2,-15.5,68,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,1921,3601,3667,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,782,-1.57,-180.8,2070,1921,3666,3536,126.8,-16.7,86,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,1921,3601,3666,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,961,-1.57,-180.8,2071,1921,3666,3536,157.6,-18.3,104,967,0.00,2.22,0.00,0.000,260,0.000,0.059,2070,3337,3601,3666,3536,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,1018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1018,begin apogee
$GC,1028,-0.47,0.0,2070,1984,3666,3536,168.3,-17.3,115,1177,0.75,0.00,141.77,0.585,10246,0.135,0.000,2306,1985,2859,2754,2964,0,0,0,0,0,0,25.66,28.83,24.45
$STATE,1179,end apogee,CONTROL_FINISHED_OK
$STATE,1179,begin climb
$GC,1182,1.69,180.8,2306,1983,2752,2964,177.6,0.0,130,1338,1.40,2.38,146.77,0.562,10756,0.090,0.056,2785,595,2120,1945,2295,0,0,0,0,0,0,25.19,24.98,24.31
$GC,1362,1.74,229.7,2785,595,1945,2293,164.7,13.4,162,1408,0.00,2.33,40.28,0.542,9222,0.000,0.046,2786,2001,1923,1745,2101,0,0,0,0,0,0,28.83,25.27,24.40
$GC,1597,1.74,229.7,2785,2000,1746,2092,124.0,17.7,190,1603,0.00,2.25,0.00,0.000,260,0.000,0.055,2786,3410,1919,1746,2092,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1651,1.74,229.7,2785,3410,1750,2088,113.5,19.8,200,1657,0.00,2.30,0.00,0.000,1030,0.000,0.047,2795,1992,1919,1750,2088,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1845,1.74,229.7,2795,1992,1750,2087,75.5,19.1,220,1851,0.00,2.22,0.00,0.000,516,0.000,0.059,2800,592,1918,1750,2087,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1936,1.74,229.7,2799,592,1750,2087,59.3,16.8,237,1944,0.00,2.25,0.00,0.000,1030,0.000,0.045,2800,2004,1918,1750,2086,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2123,1.78,256.9,2799,2004,1750,2085,30.9,14.9,256,2146,0.00,2.25,18.40,0.486,8452,0.000,0.056,2800,3414,1810,1647,1973,0,0,0,0,0,0,28.83,26.02,25.28
$GC,2208,1.78,256.9,2799,3414,1654,1971,17.8,16.7,271,2213,0.00,2.28,0.00,0.000,1030,0.000,0.047,2810,2000,1812,1654,1971,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,2299,end climb,SURFACE_DEPTH_REACHED
$STATE,2299,begin surface coast
$FINISH,1.0,1.021301
$STATE,2313,end surface coast,CONTROL_FINISHED_OK
$STATE,2314,begin surface
$SM_CCo,2334,17.08,0.049,0,0,1638,300.00
$SM_GC,2.43,7.38,0.12,17.08,0.050,0.096,0.049,92,1917,1638,-10.60,0.82,300.00,0,0,0,0,0,0,26.01,26.26,26.08
$IRIDIUM_FIX,4710.21,-12217.53,180921,041534
$TT8_MAMPS,0.028462,0.028462
$HUMID,67.05
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,160.1,27.2
$SC_FREEKB,4005920
$24V_AH,24.31,3.210
$10V_AH,9.38,1.988
$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,18.175,27.400,347.225,17.075,0.000,0.000,0.000,145.100,4.750,0.000,11.618,597.155,867.639,408.007,602.123,197.215,33.280,848.929,0.000,438.237,0.000,17.588,0.000
$DEVICE_MAMPS,257.805,96.390,585.225,48.960,0.000,0.000,0.000,120.105,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2321.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.546,0.000,0.000,0.000
$MEM,204444
$DATA_FILE_SIZE,10131,282
$CAP_FILE_SIZE,50473,0
$CFSIZE,260034560,249696256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2858.72,0x239dd2,7,5
$CURRENT,0.172,321.3,1
$GPS,150714,191413,4726.088,-12222.687,9,1.5,9,18.1