version: 66.12
glider: 124
mission: 17
dive: 59
start: 7 16 114 12 42 3
data:
$ID,124
$MISSION,17
$DIVE,59
$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,-307926.94
$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,28
$R_STBD_OVSHOOT,32
$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
$GPS1,160714,123451,4725.427,-12221.804,11,2.4,31,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-67.0
$GPS2,160714,124056,4725.404,-12221.764,11,5.3,31,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.248,0.148
$KALMAN_X,-7516.6,-425.7,-136.2,7163.8,203.0
$KALMAN_Y,6970.9,559.7,90.1,-6021.0,-196.7
$MHEAD_RNG_PITCHd_Wd,286.2,218,-26.4,-16.667,-30.00,1390
$D_GRID,175
$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,-161.4,91,1930,1534,1744,0.0,0.0,0,103,0.00,0.00,-80.53,0.000,16386,0.000,0.000,91,1931,2956,2987,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.77,-180.8,91,1931,2987,2926,3.4,-2.0,8,143,8.52,0.00,-18.62,0.000,18438,0.260,0.000,2017,1931,3602,3668,3536,0,0,0,0,0,0,25.36,28.83,26.50
$GC,325,-1.71,-180.8,2017,1931,3668,3537,50.0,-22.8,30,332,0.10,0.00,0.00,0.000,2054,0.217,0.000,2038,1930,3602,3668,3537,0,0,0,0,0,0,26.07,28.83,28.83
$GC,515,-1.71,-180.8,2038,1931,3668,3538,88.3,-18.1,49,521,0.00,2.20,0.00,0.000,260,0.000,0.057,2039,3325,3602,3668,3537,0,0,0,0,0,0,28.83,26.03,28.83
$GC,569,-1.71,-180.8,2038,3326,3668,3537,98.5,-19.5,59,575,0.00,2.28,0.00,0.000,1030,0.000,0.048,2039,1912,3603,3668,3538,0,0,0,0,0,0,28.83,26.14,28.83
$GC,763,-1.71,-180.8,2038,1912,3670,3537,135.6,-18.3,79,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1912,3602,3668,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,943,-1.71,-180.8,2039,1911,3668,3537,168.8,-18.0,97,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1911,3602,3668,3537,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,980,begin apogee
$GC,988,-0.47,0.0,2039,2006,3668,3537,176.0,-18.1,101,1144,0.85,0.00,143.95,0.581,10246,0.142,0.000,2303,2006,2858,2753,2964,0,0,0,0,0,0,25.61,28.83,24.46
$STATE,1145,end apogee,CONTROL_FINISHED_OK
$STATE,1146,begin climb
$GC,1149,1.77,180.8,2303,2006,2752,2964,185.6,0.0,117,1306,1.48,2.33,147.05,0.558,10500,0.089,0.053,2799,3409,2120,1944,2297,0,0,0,0,0,0,25.23,25.02,24.34
$GC,1340,1.77,180.8,2798,3409,1945,2292,165.6,18.4,148,1345,0.00,2.35,0.00,0.000,1030,0.000,0.047,2809,1988,2118,1945,2291,0,0,0,0,0,0,28.83,25.33,28.83
$GC,1534,1.77,180.8,2808,1988,1946,2284,132.4,17.9,168,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1988,2115,1946,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1714,1.77,180.8,2809,1988,1946,2281,100.4,17.5,186,1721,0.00,2.25,0.00,0.000,516,0.000,0.058,2819,587,2113,1947,2280,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1749,1.77,180.8,2819,587,1947,2279,93.8,18.5,192,1756,0.10,2.25,0.00,0.000,5126,0.163,0.046,2797,1989,2113,1947,2280,0,0,0,0,0,0,25.84,26.01,28.83
$GC,1945,1.90,229.3,2796,1988,1947,2278,65.1,13.1,212,1992,0.10,2.28,40.03,0.502,10500,0.104,0.055,2840,3410,1924,1758,2091,0,0,0,0,0,0,26.36,25.80,25.10
$GC,2117,1.90,229.3,2839,3410,1761,2085,33.6,19.7,245,2124,0.12,2.28,0.00,0.000,5126,0.168,0.047,2819,2004,1923,1761,2085,0,0,0,0,0,0,25.71,25.94,28.83
$GC,2304,1.99,245.3,2819,2004,1759,2083,5.0,15.5,264,2316,0.10,2.33,6.15,0.050,10756,0.105,0.057,2868,591,1861,1699,2023,0,0,0,0,0,0,26.30,25.96,26.06
$STATE,2321,end climb,SURFACE_DEPTH_REACHED
$STATE,2321,begin surface coast
$FINISH,1.0,1.021627
$STATE,2333,end surface coast,CONTROL_FINISHED_OK
$STATE,2333,begin surface
$SM_CCo,2355,22.23,0.048,0,0,1639,300.00
$SM_GC,1.54,7.47,2.20,22.23,0.046,0.047,0.048,92,1924,1639,-10.58,-0.76,300.00,0,0,0,0,0,0,26.03,26.05,26.07
$IRIDIUM_FIX,4710.21,-12226.32,180921,222419
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.26
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.60
$XPDR_PINGS,9
$SC_FREEKB,3997088
$24V_AH,24.34,4.607
$10V_AH,9.81,2.798
$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,18.850,22.975,337.175,22.225,0.000,0.000,0.000,185.650,4.000,0.000,32.646,592.131,912.102,425.876,635.395,197.573,33.269,891.382,0.000,422.874,0.000,13.357,0.000
$DEVICE_MAMPS,260.100,130.050,580.635,48.195,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2340.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.338,0.000,0.000,0.000
$MEM,203760
$DATA_FILE_SIZE,10115,269
$CAP_FILE_SIZE,50685,0
$CFSIZE,260034560,248885248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.156,160.1,1
$GPS,160714,132257,4725.400,-12222.096,11,3.6,31,18.1