version: 66.12
glider: 124
mission: 17
dive: 66
start: 7 16 114 18 16 36
data:
$ID,124
$MISSION,17
$DIVE,66
$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,-307935.69
$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,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
$GPS1,160714,181012,4725.964,-12222.147,14,1.2,32,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-67.7
$GPS2,160714,181531,4726.012,-12222.154,12,1.4,12,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,NORTH
$TGT_LATLONG,4725.800,-12222.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.117,-0.280
$KALMAN_X,-7673.7,-47.2,278.4,6042.9,-121.2
$KALMAN_Y,8176.1,212.2,-169.0,-5497.7,332.9
$MHEAD_RNG_PITCHd_Wd,131.4,438,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.69,-180.8,95,1915,1532,1748,0.0,0.0,0,102,0.00,0.00,-79.65,0.000,16386,0.000,0.000,96,1915,2912,2940,2885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,95,1915,2940,2885,3.1,-1.5,8,145,8.52,2.28,-21.08,0.000,18948,0.259,0.071,2037,510,3600,3665,3536,0,0,1,0,0,0,25.37,25.58,26.55
$GC,205,-1.57,-180.8,2037,508,3667,3536,22.3,-25.7,26,211,0.12,2.28,0.00,0.000,3078,0.194,0.047,2066,1932,3601,3667,3536,0,0,0,0,0,0,25.74,26.04,28.83
$GC,400,-1.57,-180.8,2066,1933,3667,3536,63.1,-18.5,46,406,0.00,2.20,0.00,0.000,260,0.000,0.059,2066,3322,3601,3666,3536,0,0,0,0,0,0,28.83,26.00,28.83
$GC,458,-1.57,-180.8,2066,3322,3666,3536,73.4,-17.2,57,465,0.00,2.25,0.00,0.000,1030,0.000,0.049,2066,1919,3601,3666,3537,0,0,0,0,0,0,28.83,26.12,28.83
$GC,644,-1.57,-180.8,2066,1919,3666,3536,104.5,-16.9,76,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,1919,3601,3666,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,826,-1.57,-180.8,2066,1919,3666,3536,134.8,-16.5,94,831,0.00,2.22,0.00,0.000,516,0.000,0.058,2066,503,3601,3666,3536,0,0,0,0,0,0,28.83,26.10,28.83
$GC,881,-1.57,-180.8,2066,503,3666,3537,144.9,-17.4,104,887,0.00,2.25,0.00,0.000,1030,0.000,0.048,2067,1918,3601,3666,3536,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,1013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1013,begin apogee
$GC,1021,-0.47,0.0,2066,2007,3665,3537,168.5,-16.9,118,1170,0.75,0.00,142.27,0.576,10246,0.140,0.000,2302,2007,2860,2754,2966,0,0,0,0,0,0,25.64,28.83,24.49
$STATE,1172,end apogee,CONTROL_FINISHED_OK
$STATE,1172,begin climb
$GC,1175,1.69,180.8,2301,2007,2752,2965,174.2,0.0,133,1338,1.42,2.38,148.27,0.549,10500,0.090,0.056,2779,3403,2119,1940,2298,0,0,0,0,0,0,25.21,25.03,24.36
$GC,1352,1.69,180.8,2778,3403,1942,2294,154.1,16.8,156,1358,0.00,2.35,0.00,0.000,1030,0.000,0.047,2789,1988,2118,1942,2294,0,0,0,0,0,0,28.83,25.27,28.83
$GC,1548,1.72,206.4,2789,1988,1943,2286,118.9,15.0,176,1574,0.00,2.33,21.20,0.511,8708,0.000,0.057,2798,595,2016,1845,2188,0,0,0,0,0,0,28.83,25.62,24.85
$GC,1603,1.72,206.4,2798,595,1845,2186,109.4,17.3,186,1609,0.00,2.28,0.00,0.000,1030,0.000,0.046,2798,2000,2015,1845,2186,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1798,1.72,206.4,2798,2000,1845,2182,75.3,16.9,206,1804,0.00,2.22,0.00,0.000,260,0.000,0.056,2798,3409,2013,1845,2182,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1873,1.72,206.4,2798,3409,1848,2177,61.8,18.3,220,1879,0.10,2.28,0.00,0.000,5126,0.170,0.047,2786,1996,2012,1848,2177,0,0,0,0,0,0,25.82,25.98,28.83
$GC,2068,1.87,265.6,2785,1997,1848,2176,33.0,12.7,240,2122,0.12,2.35,45.80,0.487,10500,0.089,0.056,2839,3416,1775,1612,1939,0,0,1,0,0,0,26.34,25.75,25.08
$GC,2172,1.87,265.6,2839,3416,1616,1936,13.2,22.7,258,2179,0.15,2.30,0.00,0.000,5126,0.158,0.046,2812,1992,1776,1616,1936,0,0,0,0,0,0,25.63,25.84,28.83
$STATE,2225,end climb,SURFACE_DEPTH_REACHED
$STATE,2226,begin surface coast
$FINISH,1.1,1.021452
$STATE,2236,end surface coast,CONTROL_FINISHED_OK
$STATE,2236,begin surface
$SM_CCo,2259,13.52,0.049,0,0,1638,300.00
$SM_GC,2.58,7.40,0.10,13.52,0.048,0.116,0.049,94,1925,1638,-10.59,1.05,300.00,0,0,0,0,0,0,25.82,26.07,25.91
$IRIDIUM_FIX,4707.04,-12222.91,190921,035852
$TT8_MAMPS,0.029211,0.029211
$HUMID,66.14
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,9
$SC_FREEKB,3994400
$24V_AH,24.36,5.029
$10V_AH,9.40,3.045
$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,18.600,32.175,357.550,13.525,0.000,0.000,0.000,158.025,4.000,0.000,13.614,572.474,805.672,439.363,584.474,208.042,33.278,883.507,0.000,413.982,0.000,14.645,0.000
$DEVICE_MAMPS,258.570,116.280,576.045,48.960,0.000,0.000,0.000,119.340,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2243.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.096,0.000,0.000,0.000
$MEM,203696
$DATA_FILE_SIZE,10147,265
$CAP_FILE_SIZE,51101,0
$CFSIZE,260034560,248647680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$INTR,0,2805.60,0x239dd2,7,5
$CURRENT,0.177,327.1,1
$GPS,160714,185545,4725.913,-12222.058,10,2.3,30,18.1