version: 66.12
glider: 124
mission: 17
dive: 67
start: 7 16 114 19 2 56
data:
$ID,124
$MISSION,17
$DIVE,67
$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,-307936.94
$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,28
$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
$GPS1,160714,185545,4725.913,-12222.058,10,2.3,30,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-67.9
$GPS2,160714,190151,4725.953,-12222.095,13,2.3,33,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,NORTH
$TGT_LATLONG,4725.800,-12222.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.127,-0.276
$KALMAN_X,-7761.0,-10.5,170.8,6273.4,-171.8
$KALMAN_Y,8444.6,216.0,3.6,-6047.8,354.3
$MHEAD_RNG_PITCHd_Wd,133.3,308,-25.0,-16.667,-28.75,1541
$D_GRID,169
$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,-180.8,94,1925,1532,1746,0.0,0.0,0,102,0.00,0.00,-79.68,0.000,16386,0.000,0.000,94,1925,2930,2958,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,94,1925,2958,2903,3.4,-2.0,8,141,8.57,2.40,-19.35,0.000,18692,0.260,0.072,2038,3330,3601,3666,3536,0,0,0,0,0,0,25.33,25.91,26.50
$GC,371,-1.69,-180.8,2038,3330,3666,3538,59.1,-21.1,59,377,0.00,2.28,0.00,0.000,1030,0.000,0.048,2037,1917,3602,3667,3538,0,0,0,0,0,0,28.83,26.09,28.83
$GC,558,-1.69,-180.8,2039,1916,3666,3538,96.1,-18.9,78,563,0.00,2.30,0.00,0.000,260,0.000,0.058,2039,3328,3602,3666,3538,0,0,0,0,0,0,28.83,26.03,28.83
$GC,668,-1.69,-180.8,2038,3327,3666,3537,116.3,-18.9,99,675,0.00,2.25,0.00,0.000,1030,0.000,0.048,2039,1920,3602,3666,3538,0,0,0,0,0,0,28.83,26.16,28.83
$GC,855,-1.69,-180.8,2038,1919,3664,3538,152.2,-18.2,118,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,1920,3602,3666,3539,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,941,begin apogee
$GC,949,-0.47,0.0,2038,2007,3666,3538,169.7,-19.2,127,1105,0.85,0.00,143.35,0.573,10246,0.144,0.000,2302,2008,2858,2752,2964,0,0,0,0,0,0,25.60,28.83,24.49
$STATE,1107,end apogee,CONTROL_FINISHED_OK
$STATE,1107,begin climb
$GC,1110,1.69,180.8,2302,2007,2751,2963,179.2,0.0,143,1268,1.38,2.47,145.12,0.550,11012,0.077,0.057,2785,590,2120,1942,2298,0,0,0,0,0,0,25.27,25.03,24.37
$GC,1383,1.69,180.8,2785,589,1941,2290,147.0,19.2,194,1389,0.00,2.30,0.00,0.000,1030,0.000,0.045,2785,2004,2116,1941,2291,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1578,1.69,180.8,2785,2005,1942,2284,111.5,16.7,214,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2005,2113,1943,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1758,1.71,203.6,2785,2004,1943,2281,85.2,15.2,232,1784,0.00,2.30,18.20,0.501,8452,0.000,0.057,2785,3409,2028,1860,2196,0,0,0,0,0,0,28.83,25.94,25.15
$GC,1864,1.71,203.6,2785,3409,1863,2193,67.2,17.8,252,1869,0.00,2.28,0.00,0.000,1030,0.000,0.047,2795,1999,2028,1864,2193,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2058,1.78,255.5,2795,1999,1863,2191,36.5,13.2,272,2106,0.00,0.00,44.38,0.491,8710,0.000,0.000,2795,1999,1818,1651,1985,0,0,0,0,0,0,28.83,28.83,25.07
$STATE,2275,end climb,SURFACE_DEPTH_REACHED
$STATE,2275,begin surface coast
$FINISH,0.9,1.021645
$STATE,2286,end surface coast,CONTROL_FINISHED_OK
$STATE,2286,begin surface
$SM_CCo,2307,17.38,0.049,0,0,1639,300.00
$SM_GC,1.84,7.35,0.12,17.38,0.048,0.094,0.049,91,1910,1639,-10.61,0.79,300.00,0,0,0,0,0,0,25.88,26.13,25.98
$IRIDIUM_FIX,4707.04,-12224.61,190921,044619
$TT8_MAMPS,0.029211,0.029211
$HUMID,66.18
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.40
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,130.8,56.4
$SC_FREEKB,3994016
$24V_AH,24.37,5.091
$10V_AH,9.37,3.081
$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,18.150,18.875,351.050,17.375,0.000,0.000,0.000,184.025,2.750,0.000,34.557,601.903,816.308,416.264,673.968,199.676,33.279,901.723,0.000,456.423,0.000,7.154,0.000
$DEVICE_MAMPS,260.100,94.095,572.985,48.960,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2293.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.571,0.000,0.000,0.000
$MEM,203756
$DATA_FILE_SIZE,10109,297
$CAP_FILE_SIZE,47599,0
$CFSIZE,260034560,248623104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2778.71,0x239dd2,7,5
$CURRENT,0.154,319.9,1
$GPS,160714,194257,4725.821,-12222.181,11,2.6,31,18.1