version: 66.12
glider: 124
mission: 17
dive: 58
start: 7 16 114 11 55 2
data:
$ID,124
$MISSION,17
$DIVE,58
$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,-307925.69
$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,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
$GPS1,160714,114515,4725.720,-12222.297,10,2.8,30,18.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-66.2
$GPS2,160714,115355,4725.704,-12222.265,17,1.7,17,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.182,-0.224
$KALMAN_X,-7584.5,-445.1,-286.6,6772.7,158.8
$KALMAN_Y,6871.1,584.4,271.7,-5569.5,-188.7
$MHEAD_RNG_PITCHd_Wd,122.8,655,-26.4,-16.667,-30.00,1390
$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,-1.75,-161.4,93,1913,1534,1744,0.0,0.0,0,103,0.00,0.00,-80.25,0.000,16386,0.000,0.000,93,1913,2923,2951,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.77,-180.8,93,1913,2951,2894,3.2,-1.7,8,146,8.48,2.28,-20.98,0.000,19204,0.258,0.070,2023,508,3601,3667,3536,0,0,1,0,0,0,25.33,25.52,26.48
$GC,377,-1.69,-180.8,2022,508,3667,3536,63.5,-22.7,60,382,0.00,2.28,0.00,0.000,1030,0.000,0.047,2022,1934,3602,3668,3536,0,0,0,0,0,0,28.83,26.06,28.83
$GC,571,-1.69,-180.8,2022,1933,3668,3536,103.1,-21.4,80,576,0.00,2.30,0.00,0.000,516,0.000,0.057,2022,513,3601,3666,3536,0,0,0,0,0,0,28.83,26.05,28.83
$GC,712,-1.69,-180.8,2022,513,3667,3536,133.2,-22.5,107,718,0.00,2.25,0.00,0.000,1030,0.000,0.047,2023,1928,3601,3667,3536,0,0,0,0,0,0,28.83,26.15,28.83
$GC,899,-1.69,-180.8,2022,1928,3667,3537,169.1,-18.9,126,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1928,3601,3667,3536,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,925,begin apogee
$GC,933,-0.47,0.0,2023,2005,3667,3537,174.8,-18.8,129,1084,0.93,0.00,142.77,0.581,10246,0.148,0.000,2306,2005,2859,2753,2965,0,0,0,0,0,0,25.58,28.83,24.46
$STATE,1085,end apogee,CONTROL_FINISHED_OK
$STATE,1086,begin climb
$GC,1089,1.77,180.8,2306,2004,2751,2963,182.0,0.0,144,1245,1.42,2.42,145.65,0.561,11012,0.077,0.057,2808,592,2120,1945,2295,0,0,0,0,0,0,25.23,25.01,24.33
$GC,1278,1.77,180.8,2808,593,1945,2292,165.5,17.0,178,1286,0.00,2.30,0.00,0.000,1030,0.000,0.045,2808,1985,2118,1945,2291,0,0,0,0,0,0,28.83,25.34,28.83
$GC,1464,1.77,180.8,2807,1985,1945,2283,133.3,17.7,197,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1985,2114,1945,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1645,1.79,193.4,2808,1985,1949,2279,102.6,15.7,215,1661,0.00,2.28,10.02,0.491,8452,0.000,0.054,2806,3414,2069,1904,2234,0,0,0,0,0,0,28.83,25.93,25.09
$GC,1710,1.79,193.4,2807,3415,1906,2232,91.7,17.3,227,1716,0.00,2.30,0.00,0.000,1030,0.000,0.047,2818,1985,2069,1907,2232,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1904,1.79,193.4,2817,1985,1907,2229,57.9,17.6,247,1910,0.00,2.20,0.00,0.000,516,0.000,0.057,2829,590,2068,1906,2231,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1948,1.79,193.4,2828,590,1906,2230,50.4,16.9,255,1955,0.12,2.28,0.00,0.000,5126,0.155,0.046,2797,2018,2068,1907,2230,0,0,0,0,0,0,25.88,26.09,28.83
$GC,2144,1.94,249.3,2797,2018,1907,2229,23.4,12.5,275,2192,0.12,0.00,42.53,0.484,10246,0.090,0.000,2850,2018,1842,1678,2006,0,0,0,0,0,0,26.41,28.83,25.17
$STATE,2263,end climb,SURFACE_DEPTH_REACHED
$STATE,2263,begin surface coast
$FINISH,0.9,1.021514
$STATE,2272,end surface coast,CONTROL_FINISHED_OK
$STATE,2272,begin surface
$SM_CCo,2293,20.17,0.049,0,0,1639,300.00
$SM_GC,1.66,7.50,0.20,20.17,0.048,0.078,0.049,91,1916,1639,-10.59,0.79,300.00,0,0,1,0,0,0,25.89,26.01,25.94
$IRIDIUM_FIX,4707.04,-12220.22,180921,222125
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.90
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,130.7,58.1
$SC_FREEKB,3997472
$24V_AH,24.33,4.548
$10V_AH,9.83,2.763
$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,18.575,23.250,340.975,20.175,0.000,0.000,0.000,292.050,4.250,0.000,18.391,605.171,870.213,421.954,738.803,217.569,33.272,1008.494,0.000,443.816,0.000,7.160,0.000
$DEVICE_MAMPS,257.805,138.465,581.400,48.960,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2279.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.753,0.000,0.000,0.000
$MEM,203716
$DATA_FILE_SIZE,10125,288
$CAP_FILE_SIZE,51601,0
$CFSIZE,260034560,248922112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.136,153.9,1
$GPS,160714,123451,4725.427,-12221.804,11,2.4,31,18.1