version: 66.12
glider: 124
mission: 17
dive: 65
start: 7 16 114 17 29 49
data:
$ID,124
$MISSION,17
$DIVE,65
$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,-307934.44
$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,31
$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
$GPS1,160714,172236,4725.974,-12222.150,12,1.1,29,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-67.9
$GPS2,160714,172845,4726.025,-12222.151,10,2.7,30,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,NORTH
$TGT_LATLONG,4725.800,-12222.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.097,-0.288
$KALMAN_X,-7514.1,-95.7,346.4,5868.2,-33.0
$KALMAN_Y,7773.5,227.6,-300.1,-4957.0,224.5
$MHEAD_RNG_PITCHd_Wd,133.7,458,-25.0,-16.667,-28.75,1541
$D_GRID,168
$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,-180.8,95,1911,1531,1752,0.0,0.0,0,102,0.00,0.00,-79.40,0.000,16386,0.000,0.000,95,1911,2922,2950,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,95,1912,2951,2895,3.2,-1.7,8,145,8.48,2.38,-21.23,0.000,18692,0.257,0.072,2038,3318,3601,3667,3536,0,0,0,0,0,0,25.37,25.94,26.51
$GC,365,-1.69,-180.8,2038,3318,3666,3537,55.5,-20.7,58,371,0.00,2.25,0.00,0.000,1030,0.000,0.048,2039,1918,3601,3666,3537,0,0,0,0,0,0,28.83,26.08,28.83
$GC,560,-1.69,-180.8,2037,1918,3666,3538,94.9,-20.4,78,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1918,3601,3666,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,740,-1.69,-180.8,2039,1918,3666,3537,126.4,-17.0,96,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1918,3602,3666,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,920,-1.69,-180.8,2038,1918,3666,3538,157.4,-16.7,114,926,0.00,2.28,0.00,0.000,260,0.000,0.057,2039,3322,3601,3666,3537,0,0,0,0,0,0,28.83,26.09,28.83
$GC,955,-1.69,-180.8,2038,3322,3666,3537,163.1,-15.9,120,960,0.00,2.25,0.00,0.000,1030,0.000,0.048,2038,1914,3602,3666,3538,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,986,begin apogee
$GC,995,-0.47,0.0,2039,2007,3666,3538,168.6,-16.0,124,1149,0.85,0.00,142.82,0.577,10246,0.143,0.000,2302,2007,2858,2752,2965,0,0,0,0,0,0,25.62,28.83,24.49
$STATE,1151,end apogee,CONTROL_FINISHED_OK
$STATE,1151,begin climb
$GC,1154,1.69,180.8,2302,2007,2752,2964,176.2,0.0,140,1311,1.42,0.00,145.93,0.556,10502,0.090,0.000,2777,2007,2121,1943,2299,0,0,0,0,0,0,25.24,28.83,24.35
$GC,1491,1.70,193.1,2777,2007,1943,2291,132.9,15.9,181,1507,0.00,2.25,10.45,0.497,8452,0.000,0.053,2777,3406,2071,1899,2243,0,0,0,0,0,0,28.83,25.67,24.82
$GC,1579,1.70,193.1,2776,3406,1900,2239,117.6,17.6,197,1585,0.00,2.30,0.00,0.000,1030,0.000,0.048,2787,1990,2070,1901,2239,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1774,1.75,230.7,2785,1990,1901,2237,87.1,14.2,217,1816,0.00,2.30,32.40,0.512,8708,0.000,0.057,2796,592,1919,1749,2089,0,0,0,0,0,0,28.83,25.73,25.01
$GC,1856,1.75,230.7,2796,592,1749,2088,74.2,17.8,232,1863,0.00,2.28,0.00,0.000,1030,0.000,0.045,2796,1998,1918,1749,2087,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2042,1.81,230.7,2796,1999,1749,2084,42.1,17.5,251,2047,0.00,2.22,0.00,0.000,260,0.000,0.056,2796,3407,1917,1750,2084,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2102,1.81,230.7,2796,3406,1751,2080,32.2,17.1,262,2108,0.00,2.28,0.00,0.000,1030,0.000,0.048,2806,1999,1915,1751,2080,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2288,1.90,259.5,2806,1999,1751,2080,4.2,14.8,281,2300,0.00,0.00,10.50,0.049,8450,0.000,0.000,2805,1999,1810,1645,1976,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2301,end climb,SURFACE_DEPTH_REACHED
$STATE,2301,begin surface coast
$FINISH,1.1,1.021737
$STATE,2307,end surface coast,CONTROL_FINISHED_OK
$STATE,2307,begin surface
$SM_CCo,2328,17.20,0.050,0,0,1639,300.00
$SM_GC,1.64,7.32,0.12,17.20,0.048,0.098,0.050,95,1915,1639,-10.58,0.79,300.00,0,0,0,0,0,0,26.01,26.29,26.10
$IRIDIUM_FIX,4710.21,-12220.22,190921,031112
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.42
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,19.30
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,150.5,31.6
$SC_FREEKB,3994784
$24V_AH,24.35,4.968
$10V_AH,9.84,3.010
$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,18.075,23.075,342.100,17.200,0.000,0.000,0.000,190.875,2.750,0.000,31.459,599.892,841.519,421.980,660.237,207.946,33.277,907.677,0.000,441.418,0.000,10.261,0.000
$DEVICE_MAMPS,257.040,97.920,576.810,49.725,0.000,0.000,0.000,113.220,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2315.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.405,0.000,0.000,0.000
$MEM,203756
$DATA_FILE_SIZE,10123,284
$CAP_FILE_SIZE,50472,0
$CFSIZE,260034560,248684544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2892.52,0x239dd2,7,5
$CURRENT,0.212,327.7,1
$GPS,160714,181012,4725.964,-12222.147,14,1.2,32,18.1