version: 66.12
glider: 124
mission: 17
dive: 57
start: 7 16 114 11 3 22
data:
$ID,124
$MISSION,17
$DIVE,57
$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,-307924.44
$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
$GPS1,160714,105635,4726.021,-12222.771,30,1.5,41,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-66.5
$GPS2,160714,110218,4726.021,-12222.783,11,1.5,16,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.221,-0.208
$KALMAN_X,-7647.0,-447.1,-395.4,6297.3,62.9
$KALMAN_Y,6861.1,595.3,418.0,-5130.3,-102.5
$MHEAD_RNG_PITCHd_Wd,116.4,1527,-25.0,-16.667,-28.75,1541
$D_GRID,173
$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,-180.8,94,1918,1534,1744,0.0,0.0,0,103,0.00,0.00,-80.28,0.000,16386,0.000,0.000,95,1918,2931,2959,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,95,1918,2959,2904,3.3,-1.7,8,142,8.55,2.30,-19.85,0.000,18948,0.259,0.075,2042,512,3601,3667,3535,0,0,1,0,0,0,25.35,25.38,26.53
$GC,372,-1.61,-180.8,2042,511,3669,3536,58.7,-21.7,59,378,0.00,2.25,0.00,0.000,1030,0.000,0.047,2042,1918,3603,3669,3537,0,0,0,0,0,0,28.83,26.08,28.83
$GC,558,-1.61,-180.8,2041,1918,3669,3537,93.5,-18.8,78,563,0.00,2.28,0.00,0.000,516,0.000,0.057,2041,510,3602,3669,3536,0,0,0,0,0,0,28.83,26.06,28.83
$GC,606,-1.61,-180.8,2042,510,3669,3536,102.5,-18.4,87,613,0.00,2.25,0.00,0.000,1030,0.000,0.048,2041,1924,3602,3668,3536,0,0,0,0,0,0,28.83,26.13,28.83
$GC,793,-1.61,-180.8,2041,1925,3669,3537,137.4,-18.9,106,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1924,3602,3668,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,982,-1.61,-180.8,2041,1925,3668,3536,172.3,-18.0,125,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,1925,3602,3669,3536,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,989,begin apogee
$GC,997,-0.47,0.0,2041,2008,3668,3536,174.1,-18.3,126,1148,0.85,0.00,143.07,0.581,10246,0.142,0.000,2306,2007,2859,2753,2966,0,0,0,0,0,0,25.60,28.83,24.48
$STATE,1150,end apogee,CONTROL_FINISHED_OK
$STATE,1150,begin climb
$GC,1153,1.69,180.8,2306,2008,2751,2965,181.7,0.0,141,1306,1.40,0.00,147.32,0.559,10758,0.090,0.000,2774,2008,2123,1944,2303,0,0,0,0,0,0,25.20,28.83,24.32
$GC,1484,1.72,206.1,2774,2008,1943,2288,154.0,15.0,182,1516,0.00,2.33,21.20,0.538,8452,0.000,0.055,2774,3408,2017,1845,2190,0,0,0,0,0,0,28.83,25.56,24.75
$GC,1563,1.72,206.1,2774,3408,1846,2185,141.7,17.5,196,1568,0.00,2.30,0.00,0.000,1030,0.000,0.047,2784,2000,2015,1846,2185,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1758,1.72,209.3,2784,2000,1846,2182,110.3,16.5,216,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2000,2014,1846,2182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1947,1.75,234.7,2784,2000,1847,2181,79.9,15.0,235,1976,0.00,0.00,24.33,0.515,8198,0.000,0.000,2784,2000,1902,1736,2069,0,0,0,0,0,0,28.83,28.83,25.13
$GC,2158,1.86,261.5,2784,2001,1736,2066,45.0,14.9,256,2186,0.12,0.00,23.27,0.497,10246,0.090,0.000,2839,2000,1793,1631,1956,0,0,0,0,0,0,26.23,28.83,25.10
$GC,2367,1.86,261.5,2838,2000,1632,1955,6.9,18.5,277,2373,0.10,2.25,0.00,0.000,4612,0.163,0.057,2825,590,1792,1632,1952,0,0,0,0,0,0,26.08,25.92,28.83
$STATE,2389,end climb,SURFACE_DEPTH_REACHED
$STATE,2389,begin surface coast
$FINISH,1.0,1.021536
$STATE,2400,end surface coast,CONTROL_FINISHED_OK
$STATE,2400,begin surface
$SM_CCo,2422,15.20,0.050,0,0,1638,300.25
$SM_GC,2.64,7.38,2.20,15.20,0.046,0.047,0.050,93,1923,1638,-10.58,-0.79,300.25,0,0,0,0,0,0,25.99,26.02,26.03
$IRIDIUM_FIX,4710.21,-12224.61,180921,204027
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.18
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,141.2,46.0
$SC_FREEKB,3997856
$24V_AH,24.32,4.484
$10V_AH,9.79,2.725
$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,18.400,18.275,359.200,15.200,0.000,0.000,0.000,177.750,3.000,0.000,17.403,605.532,922.946,432.577,634.000,202.010,33.275,900.802,0.000,442.541,0.000,11.595,0.000
$DEVICE_MAMPS,259.335,104.040,581.400,49.725,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2407.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.100,0.000,0.000,0.000
$MEM,203728
$DATA_FILE_SIZE,10141,283
$CAP_FILE_SIZE,50158,0
$CFSIZE,260034560,248954880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,3153.60,0x239dd2,7,5
$CURRENT,0.090,140.0,1
$GPS,160714,114515,4725.720,-12222.297,10,2.8,30,18.1