version: 66.12
glider: 124
mission: 17
dive: 63
start: 7 16 114 15 55 5
data:
$ID,124
$MISSION,17
$DIVE,63
$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,-307931.94
$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,27
$R_STBD_OVSHOOT,30
$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
$GPS1,160714,154815,4725.594,-12221.979,11,2.1,31,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-67.4
$GPS2,160714,155401,4725.587,-12221.921,15,2.0,15,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.123,-0.261
$KALMAN_X,-7382.6,-217.4,337.9,6151.6,125.6
$KALMAN_Y,7127.8,301.3,-397.0,-5095.5,12.5
$MHEAD_RNG_PITCHd_Wd,164.8,291,-26.4,-16.667,-30.00,1390
$D_GRID,171
$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,20,-1.75,-161.4,91,1914,1530,1747,0.0,0.0,0,102,0.00,0.00,-79.53,0.000,16386,0.000,0.000,91,1914,2906,2933,2880,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.77,-180.8,91,1914,2933,2882,3.2,-1.6,8,145,8.45,2.35,-21.60,0.000,18692,0.257,0.080,2023,3322,3601,3666,3536,0,0,0,0,0,0,25.37,25.65,26.49
$GC,375,-1.77,-180.8,2023,3322,3666,3537,60.4,-20.1,60,380,0.00,2.25,0.00,0.000,1030,0.000,0.048,2024,1920,3601,3666,3537,0,0,0,0,0,0,28.83,26.08,28.83
$GC,568,-1.77,-180.8,2023,1920,3666,3537,100.2,-20.3,80,574,0.00,2.30,0.00,0.000,260,0.000,0.057,2024,3334,3601,3666,3537,0,0,0,0,0,0,28.83,26.05,28.83
$GC,701,-1.77,-180.8,2023,3334,3669,3537,126.0,-19.6,105,708,0.00,2.28,0.00,0.000,1030,0.000,0.049,2024,1918,3602,3667,3537,0,0,0,0,0,0,28.83,26.17,28.83
$GC,888,-1.77,-180.8,2023,1917,3666,3537,162.0,-19.2,124,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1917,3601,3666,3537,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,935,begin apogee
$GC,943,-0.47,0.0,2023,2007,3666,3537,171.4,-18.6,129,1093,0.93,0.00,142.43,0.584,10246,0.146,0.000,2305,2007,2859,2754,2965,0,0,0,0,0,0,25.63,28.83,24.45
$STATE,1095,end apogee,CONTROL_FINISHED_OK
$STATE,1095,begin climb
$GC,1098,1.77,180.8,2305,2007,2753,2964,181.1,0.0,144,1255,1.45,2.40,146.30,0.559,10500,0.086,0.055,2794,3409,2121,1945,2297,0,0,0,0,0,0,25.22,25.02,24.34
$GC,1285,1.77,180.8,2793,3409,1946,2292,163.1,17.1,166,1290,0.00,2.35,0.00,0.000,1030,0.000,0.047,2803,1993,2118,1946,2291,0,0,0,0,0,0,28.83,25.31,28.83
$GC,1479,1.77,180.8,2803,1994,1945,2284,130.5,16.7,186,1485,0.00,2.25,0.00,0.000,516,0.000,0.059,2813,595,2115,1947,2284,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1507,1.77,180.8,2813,595,1948,2283,125.3,17.7,191,1514,0.00,2.28,0.00,0.000,1030,0.000,0.046,2813,2005,2115,1947,2283,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1694,1.77,181.0,2813,2005,1947,2279,92.1,16.7,210,1700,0.00,2.25,0.00,0.000,260,0.000,0.056,2813,3421,2113,1948,2279,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1779,1.77,181.0,2813,3421,1951,2275,78.1,18.0,226,1785,0.12,2.30,0.00,0.000,5126,0.165,0.047,2793,1985,2113,1952,2275,0,0,0,0,0,0,25.82,26.04,28.83
$GC,1976,1.90,214.4,2793,1985,1952,2275,48.7,14.2,246,2006,0.12,0.00,27.25,0.495,10246,0.090,0.000,2844,1985,1987,1825,2149,0,0,0,0,0,0,26.38,28.83,25.23
$GC,2185,1.90,214.4,2844,1985,1825,2148,14.7,16.9,267,2191,0.10,2.33,0.00,0.000,4356,0.166,0.053,2821,3410,1986,1825,2148,0,0,0,0,0,0,26.12,26.00,28.83
$GC,2250,1.91,223.4,2820,3410,1825,2144,4.1,16.0,279,2257,0.00,2.28,2.03,0.050,9218,0.000,0.047,2829,2002,1964,1805,2124,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,2258,end climb,SURFACE_DEPTH_REACHED
$STATE,2258,begin surface coast
$FINISH,0.9,1.021675
$STATE,2269,end surface coast,CONTROL_FINISHED_OK
$STATE,2269,begin surface
$SM_CCo,2290,32.72,0.048,0,0,1639,300.00
$SM_GC,2.18,7.43,0.12,32.72,0.050,0.095,0.048,96,1917,1639,-10.58,0.85,300.00,0,0,0,0,0,0,25.98,26.27,26.09
$IRIDIUM_FIX,4707.04,-12222.91,190921,013645
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.22
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.60
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,150.3,41.2
$SC_FREEKB,3995552
$24V_AH,24.34,4.849
$10V_AH,9.94,2.940
$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,18.600,27.900,318.000,32.725,0.000,0.000,0.000,183.150,3.500,0.000,16.697,625.019,797.760,428.589,634.015,201.371,33.275,890.160,0.000,435.543,0.000,10.286,0.000
$DEVICE_MAMPS,257.040,94.860,583.695,48.195,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2276.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.571,0.000,0.000,0.000
$MEM,203748
$DATA_FILE_SIZE,10121,282
$CAP_FILE_SIZE,50861,0
$CFSIZE,260034560,248750080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2862.29,0x239dd2,7,5
$CURRENT,0.079,348.8,1
$GPS,160714,163503,4725.427,-12222.064,9,4.0,29,18.1