version: 66.12
glider: 124
mission: 17
dive: 46
start: 7 16 114 2 28 6
data:
$ID,124
$MISSION,17
$DIVE,46
$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,-307910.69
$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,25
$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
$GPS1,160714,022107,4726.081,-12222.522,12,1.5,12,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-64.8
$GPS2,160714,022702,4726.042,-12222.552,10,3.8,30,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.216,-0.214
$KALMAN_X,-5737.4,68.5,276.3,3496.4,-15.8
$KALMAN_Y,3258.9,-3.6,-329.0,-148.8,-184.4
$MHEAD_RNG_PITCHd_Wd,112.5,1373,-25.0,-16.667,-28.75,1541
$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,-1.69,-180.8,94,1911,1532,1744,0.0,0.0,0,102,0.00,0.00,-79.75,0.000,16386,0.000,0.000,93,1911,2898,2925,2872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,94,1911,2924,2873,3.1,-1.7,8,145,8.48,2.28,-21.45,0.000,18948,0.257,0.072,2036,513,3601,3668,3535,0,0,1,0,0,0,25.39,25.58,26.52
$GC,375,-1.62,-180.8,2036,513,3669,3536,59.2,-19.8,60,380,0.00,2.25,0.00,0.000,1030,0.000,0.048,2036,1919,3602,3669,3536,0,0,0,0,0,0,28.83,26.08,28.83
$GC,569,-1.62,-180.8,2035,1919,3669,3536,96.2,-19.2,80,575,0.00,2.28,0.00,0.000,516,0.000,0.056,2036,508,3602,3669,3536,0,0,0,0,0,0,28.83,26.07,28.83
$GC,677,-1.62,-180.8,2035,508,3669,3536,116.4,-20.0,100,683,0.00,2.25,0.00,0.000,1030,0.000,0.047,2036,1922,3601,3668,3535,0,0,0,0,0,0,28.83,26.15,28.83
$GC,871,-1.62,-180.8,2036,1923,3669,3536,153.8,-19.7,120,873,0.10,0.00,0.00,0.000,2054,0.198,0.000,2060,1923,3602,3669,3536,0,0,0,0,0,0,26.30,28.83,28.83
$STATE,959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,959,begin apogee
$GC,967,-0.47,0.0,2060,2008,3668,3536,170.0,-17.4,129,1122,0.77,0.00,143.65,0.583,10246,0.138,0.000,2305,2008,2858,2752,2964,0,0,0,0,0,0,25.66,28.83,24.46
$STATE,1124,end apogee,CONTROL_FINISHED_OK
$STATE,1124,begin climb
$GC,1127,1.69,180.8,2304,2008,2752,2964,179.1,0.0,145,1283,1.42,2.40,145.27,0.557,10500,0.090,0.054,2779,3410,2120,1944,2297,0,0,0,0,0,0,25.22,25.01,24.33
$GC,1311,1.70,191.8,2778,3410,1944,2292,162.3,15.9,180,1329,0.00,2.35,9.88,0.500,9222,0.000,0.047,2788,1997,2075,1900,2251,0,0,0,0,0,0,28.83,25.29,24.50
$GC,1508,1.70,196.3,2788,1997,1900,2245,131.0,16.4,201,1516,0.00,0.00,3.10,0.347,8198,0.000,0.000,2788,1997,2062,1892,2232,0,0,0,0,0,0,28.83,28.83,24.61
$GC,1698,1.72,210.0,2788,1997,1896,2232,101.1,15.8,220,1720,0.00,2.33,13.65,0.514,8452,0.000,0.056,2788,3411,2003,1835,2171,0,0,1,0,0,0,28.83,25.86,25.05
$GC,1786,1.72,210.0,2788,3411,1838,2165,86.0,17.5,236,1791,0.00,2.30,0.00,0.000,1030,0.000,0.047,2798,1984,2002,1839,2165,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1980,1.72,210.0,2797,1984,1839,2164,48.3,19.6,256,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1984,2001,1839,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2161,1.82,237.9,2797,1984,1839,2163,19.3,14.8,274,2179,0.00,0.00,11.98,0.084,8198,0.000,0.000,2798,1984,1892,1730,2054,0,0,0,0,0,0,28.83,28.83,25.92
$STATE,2287,end climb,SURFACE_DEPTH_REACHED
$STATE,2290,begin surface coast
$FINISH,0.9,1.015519
$STATE,2308,end surface coast,CONTROL_FINISHED_OK
$STATE,2308,begin surface
$SM_CCo,2329,25.48,0.048,0,0,1639,300.00
$SM_GC,1.27,7.30,0.10,25.48,0.047,0.110,0.048,88,1914,1639,-10.60,0.79,300.00,0,0,0,0,0,0,26.11,26.41,26.15
$IRIDIUM_FIX,4707.04,-12222.91,180921,120648
$TT8_MAMPS,0.028462,0.028462
$HUMID,67.36
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,140.4,46.1
$SC_FREEKB,4002080
$24V_AH,24.33,3.800
$10V_AH,9.87,2.342
$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,18.075,18.650,327.525,25.475,0.000,0.000,0.000,175.925,3.750,0.000,31.720,605.677,858.801,405.800,655.963,199.395,33.275,877.885,0.000,448.008,0.000,14.456,0.000
$DEVICE_MAMPS,257.040,110.160,582.930,48.195,0.000,0.000,0.000,117.810,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2316.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.915,0.000,0.000,0.000
$MEM,203944
$DATA_FILE_SIZE,10139,289
$CAP_FILE_SIZE,49690,0
$CFSIZE,260034560,249348096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$INTR,0,3029.12,0x239dd2,7,5
$CURRENT,0.032,307.2,1
$GPS,160714,030835,4725.956,-12222.173,29,1.6,29,18.1