version: 66.12
glider: 124
mission: 17
dive: 61
start: 7 16 114 14 19 56
data:
$ID,124
$MISSION,17
$DIVE,61
$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,-307929.44
$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,30
$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
$GPS1,160714,141305,4725.625,-12222.024,11,1.8,28,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-66.9
$GPS2,160714,141849,4725.593,-12221.970,14,1.8,14,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,NORTH
$TGT_LATLONG,4725.800,-12222.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.103,0.286
$KALMAN_X,-7487.0,-332.5,166.3,6480.3,172.9
$KALMAN_Y,6839.6,446.2,-219.1,-5113.9,-203.5
$MHEAD_RNG_PITCHd_Wd,332.2,384,-26.4,-16.667,-30.00,1390
$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,-1.75,-161.4,94,1911,1532,1749,0.0,0.0,0,102,0.00,0.00,-80.15,0.000,16386,0.000,0.000,94,1912,2934,2964,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.77,-180.8,94,1911,2963,2906,3.3,-1.7,8,142,8.48,0.00,-19.60,0.000,18950,0.259,0.000,2023,1873,3599,3664,3534,0,0,0,0,0,0,25.35,28.83,26.51
$GC,323,-1.77,-180.8,2023,1873,3664,3534,50.3,-20.8,31,325,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1874,3600,3664,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,503,-1.77,-180.8,2023,1873,3664,3536,87.4,-19.3,49,509,0.00,2.30,0.00,0.000,260,0.000,0.057,2026,3327,3600,3664,3536,0,0,0,0,0,0,28.83,26.03,28.83
$GC,572,-1.77,-180.8,2023,3327,3664,3536,100.4,-19.5,62,579,0.00,2.25,0.00,0.000,1030,0.000,0.048,2023,1922,3600,3664,3536,0,0,0,0,0,0,28.83,26.16,28.83
$GC,758,-1.77,-180.8,2023,1923,3664,3536,138.3,-19.7,81,764,0.00,2.22,0.00,0.000,516,0.000,0.057,2023,503,3600,3664,3536,0,0,0,0,0,0,28.83,26.10,28.83
$GC,838,-1.77,-180.8,2023,503,3663,3536,154.8,-21.4,95,844,0.00,2.25,0.00,0.000,1030,0.000,0.047,2023,1920,3599,3663,3536,0,0,0,0,0,0,28.83,26.19,28.83
$STATE,909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,909,begin apogee
$GC,917,-0.47,0.0,2023,2008,3663,3536,170.1,-19.8,103,1073,0.93,0.00,143.88,0.575,10246,0.148,0.000,2306,2008,2858,2753,2963,0,0,0,0,0,0,25.60,28.83,24.48
$STATE,1075,end apogee,CONTROL_FINISHED_OK
$STATE,1075,begin climb
$GC,1078,1.77,180.8,2306,2008,2752,2963,179.2,0.0,119,1235,1.45,2.42,148.02,0.552,10756,0.087,0.054,2805,594,2120,1944,2296,0,0,0,0,0,0,25.25,25.02,24.36
$GC,1269,1.77,180.8,2804,594,1943,2292,159.3,16.7,149,1276,0.00,2.30,0.00,0.000,1030,0.000,0.045,2804,1988,2117,1944,2291,0,0,0,0,0,0,28.83,25.35,28.83
$GC,1465,1.78,189.6,2803,1988,1944,2284,126.2,16.0,169,1477,0.00,2.38,7.10,0.468,8452,0.000,0.055,2804,3425,2085,1918,2253,0,0,0,0,0,0,28.83,25.78,24.92
$GC,1515,1.78,189.6,2804,3425,1918,2251,117.2,18.3,178,1522,0.00,2.33,0.00,0.000,1030,0.000,0.047,2814,1995,2084,1918,2251,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1701,1.78,189.6,2814,1995,1918,2249,84.8,17.6,197,1707,0.00,2.22,0.00,0.000,516,0.000,0.058,2825,591,2083,1918,2249,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1756,1.78,189.6,2825,591,1918,2249,75.3,17.0,207,1762,0.12,2.28,0.00,0.000,5126,0.154,0.045,2794,2013,2083,1918,2249,0,0,0,0,0,0,25.82,26.03,28.83
$GC,1952,1.91,223.6,2794,2014,1918,2247,47.4,14.2,227,1989,0.12,2.22,29.05,0.496,10500,0.090,0.055,2852,3410,1946,1782,2110,0,0,0,0,0,0,26.34,25.91,25.18
$GC,2055,1.91,223.6,2851,3410,1787,2105,28.1,19.8,246,2062,0.15,2.30,0.00,0.000,5126,0.164,0.047,2824,1984,1946,1787,2106,0,0,0,0,0,0,25.70,25.95,28.83
$STATE,2197,end climb,SURFACE_DEPTH_REACHED
$STATE,2197,begin surface coast
$FINISH,0.9,1.002079
$STATE,2209,end surface coast,CONTROL_FINISHED_OK
$STATE,2209,begin surface
$SM_CCo,2230,30.83,0.048,0,0,1638,300.00
$SM_GC,1.87,7.38,0.10,30.83,0.047,0.109,0.048,92,1915,1638,-10.59,0.82,300.00,0,0,0,0,0,0,25.98,26.27,26.06
$IRIDIUM_FIX,4707.04,-12222.91,180921,235908
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.42
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.30
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,141.1,45.4
$SC_FREEKB,3996320
$24V_AH,24.36,4.727
$10V_AH,9.33,2.869
$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,18.625,27.700,328.050,30.825,0.000,0.000,0.000,180.750,3.250,0.000,15.627,567.369,824.496,430.780,600.823,200.685,33.282,889.837,0.000,406.883,0.000,8.712,0.000
$DEVICE_MAMPS,258.570,108.630,575.280,48.195,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2216.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.609,0.000,0.000,0.000
$MEM,203748
$DATA_FILE_SIZE,6844,262
$CAP_FILE_SIZE,49599,0
$CFSIZE,260034560,248819712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2996.25,0x239dd2,7,5
$CURRENT,0.035,167.8,1
$GPS,160714,145851,4725.879,-12222.032,9,7.0,29,18.1