version: 66.12
glider: 124
mission: 17
dive: 55
start: 7 16 114 9 18 0
data:
$ID,124
$MISSION,17
$DIVE,55
$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,-307921.94
$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,31
$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
$GPS1,160714,091133,4726.513,-12223.503,14,2.6,34,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-65.6
$GPS2,160714,091655,4726.515,-12223.537,11,1.7,11,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.233,-0.195
$KALMAN_X,-7571.4,-355.2,-434.2,5223.8,-208.2
$KALMAN_Y,6638.8,556.9,602.6,-4137.7,89.9
$MHEAD_RNG_PITCHd_Wd,118.3,1477,-25.0,-16.667,-28.75,1541
$D_GRID,217
$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,17,begin dive
$GC,20,-1.69,-180.8,87,1918,1533,1747,0.0,0.0,0,102,0.00,0.00,-79.62,0.000,16386,0.000,0.000,87,1918,2902,2930,2875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,87,1918,2930,2876,3.1,-1.7,8,145,8.62,2.28,-21.23,0.000,18948,0.261,0.072,2044,510,3602,3669,3535,0,0,1,0,0,0,25.37,25.60,26.55
$GC,375,-1.59,-180.8,2042,510,3669,3536,61.5,-22.4,60,381,0.10,2.28,0.00,0.000,3078,0.188,0.048,2063,1933,3602,3669,3536,0,0,0,0,0,0,25.88,26.10,28.83
$GC,570,-1.59,-180.8,2063,1932,3669,3536,102.0,-17.8,80,575,0.00,2.33,0.00,0.000,516,0.000,0.058,2064,508,3602,3669,3536,0,0,0,0,0,0,28.83,26.07,28.83
$GC,618,-1.59,-180.8,2063,508,3669,3536,111.1,-18.5,89,626,0.00,2.28,0.00,0.000,1030,0.000,0.048,2064,1929,3602,3669,3536,0,0,0,0,0,0,28.83,26.15,28.83
$GC,805,-1.59,-180.8,2063,1929,3669,3536,144.1,-17.4,108,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1929,3602,3669,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,986,-1.59,-180.8,2063,1929,3669,3536,173.7,-16.2,126,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1929,3602,3669,3536,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1145,begin apogee
$GC,1153,-0.47,0.0,2063,2004,3669,3536,200.4,-17.1,142,1307,0.77,0.00,145.32,0.596,10246,0.137,0.000,2307,2004,2859,2752,2966,0,0,0,0,0,0,25.67,28.83,24.44
$STATE,1309,end apogee,CONTROL_FINISHED_OK
$STATE,1309,begin climb
$GC,1312,1.69,180.8,2307,2004,2749,2965,210.5,0.0,158,1465,1.40,0.00,147.20,0.575,10758,0.086,0.000,2777,2004,2121,1941,2301,0,0,0,0,0,0,25.21,28.83,24.31
$GC,1645,1.69,180.8,2777,2004,1941,2291,169.5,16.9,204,1650,0.00,2.25,0.00,0.000,260,0.000,0.056,2777,3403,2116,1942,2291,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1679,1.69,180.8,2777,3403,1944,2286,163.5,18.4,210,1685,0.00,2.30,0.00,0.000,1030,0.000,0.047,2786,1986,2115,1944,2286,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1874,1.70,192.6,2786,1985,1944,2283,131.3,15.9,230,1886,0.00,0.00,9.48,0.500,8198,0.000,0.000,2786,1985,2075,1906,2244,0,0,0,0,0,0,28.83,28.83,25.07
$GC,2065,1.74,228.2,2786,1986,1905,2240,102.1,14.3,249,2103,0.00,0.00,31.15,0.527,8198,0.000,0.000,2786,1985,1929,1761,2097,0,0,0,0,0,0,28.83,28.83,25.04
$GC,2286,1.83,241.9,2786,1985,1761,2093,68.4,15.8,271,2303,0.10,0.00,12.55,0.503,10246,0.103,0.000,2832,1985,1872,1707,2038,0,0,0,0,0,0,26.20,28.83,25.07
$GC,2485,1.83,241.9,2832,1985,1707,2035,33.2,18.0,291,2490,0.10,2.33,0.00,0.000,4356,0.163,0.054,2809,3408,1871,1707,2035,0,0,0,0,0,0,26.10,25.96,28.83
$GC,2544,1.83,241.9,2809,3408,1709,2033,22.7,17.5,302,2551,0.00,2.28,0.00,0.000,1030,0.000,0.050,2817,2004,1871,1709,2033,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,2669,end climb,SURFACE_DEPTH_REACHED
$STATE,2669,begin surface coast
$FINISH,0.9,1.010692
$STATE,2677,end surface coast,CONTROL_FINISHED_OK
$STATE,2677,begin surface
$SM_CCo,2698,22.90,0.049,0,0,1639,300.00
$SM_GC,1.40,7.35,0.12,22.90,0.047,0.086,0.049,91,1918,1639,-10.59,0.85,300.00,0,0,0,0,0,0,26.06,26.35,26.12
$IRIDIUM_FIX,4707.04,-12222.91,180921,185432
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.02
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,200.4,34.1
$SC_FREEKB,3998624
$24V_AH,24.31,4.358
$10V_AH,9.65,2.653
$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,18.450,18.525,345.700,22.900,0.000,0.000,0.000,160.375,5.250,0.000,12.339,683.147,1075.484,425.925,666.598,209.419,33.270,900.598,0.000,494.055,0.000,21.072,0.000
$DEVICE_MAMPS,260.865,114.750,595.935,48.960,0.000,0.000,0.000,117.810,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2687.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.232,0.000,0.000,0.000
$MEM,203712
$DATA_FILE_SIZE,10140,316
$CAP_FILE_SIZE,54950,0
$CFSIZE,260034560,249024512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,3167.93,0x239dd2,7,5
$CURRENT,0.044,339.8,1
$GPS,160714,100419,4726.332,-12223.150,12,1.8,12,18.1