version: 66.12
glider: 124
mission: 17
dive: 69
start: 7 16 114 20 37 36
data:
$ID,124
$MISSION,17
$DIVE,69
$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,-307939.44
$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,29
$R_STBD_OVSHOOT,25
$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
$GPS1,160714,203100,4725.726,-12221.945,38,1.5,38,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-67.3
$GPS2,160714,203631,4725.762,-12221.979,16,1.5,16,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.111,-0.283
$KALMAN_X,-8067.5,16.5,-95.5,6961.7,-187.6
$KALMAN_Y,8716.2,236.2,339.9,-7026.2,176.1
$MHEAD_RNG_PITCHd_Wd,149.9,617,-25.0,-16.667,-28.75,1541
$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,-1.69,-180.8,94,1916,1531,1747,0.0,0.0,0,102,0.00,0.00,-79.95,0.000,16386,0.000,0.000,94,1918,2917,2945,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,94,1916,2945,2891,3.1,-1.8,8,145,8.52,2.28,-21.45,0.000,18948,0.258,0.072,2042,517,3601,3666,3537,0,0,1,0,0,0,25.35,25.56,26.52
$GC,198,-1.52,-180.8,2041,517,3668,3537,19.6,-23.3,25,206,0.15,2.25,0.00,0.000,3078,0.183,0.047,2080,1922,3602,3668,3537,0,0,0,0,0,0,25.69,26.03,28.83
$GC,385,-1.52,-180.8,2078,1923,3668,3537,55.2,-18.1,44,387,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,1923,3602,3668,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,566,-1.52,-180.8,2077,1923,3668,3537,87.0,-16.0,62,571,0.00,2.22,0.00,0.000,260,0.000,0.058,2078,3337,3602,3667,3537,0,0,0,0,0,0,28.83,26.07,28.83
$GC,675,-1.52,-180.8,2078,3337,3667,3537,103.6,-15.5,82,680,0.00,2.28,0.00,0.000,1030,0.000,0.048,2079,1916,3602,3668,3537,0,0,0,0,0,0,28.83,26.19,28.83
$GC,870,-1.52,-180.8,2079,1916,3667,3537,137.4,-17.1,102,875,0.00,2.20,0.00,0.000,516,0.000,0.057,2079,510,3602,3667,3537,0,0,0,0,0,0,28.83,26.13,28.83
$GC,908,-1.52,-180.8,2078,509,3667,3538,144.1,-17.4,109,915,0.00,2.25,0.00,0.000,1030,0.000,0.048,2079,1927,3602,3667,3537,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,1074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1074,begin apogee
$GC,1082,-0.47,0.0,2078,2012,3667,3537,171.1,-15.5,126,1236,0.73,0.00,142.82,0.582,10246,0.136,0.000,2304,2011,2858,2751,2966,0,0,0,0,0,0,25.72,28.83,24.48
$STATE,1238,end apogee,CONTROL_FINISHED_OK
$STATE,1238,begin climb
$GC,1241,1.69,180.8,2304,2011,2750,2966,180.4,0.0,142,1398,1.38,2.47,146.85,0.557,11012,0.075,0.057,2786,592,2120,1942,2299,0,0,1,0,0,0,25.27,25.01,24.35
$GC,1467,1.69,180.8,2786,592,1942,2293,157.5,17.5,184,1474,0.00,2.30,0.00,0.000,1030,0.000,0.045,2786,2004,2117,1942,2293,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1654,1.70,190.0,2786,2004,1943,2287,125.7,16.1,203,1670,0.00,2.30,7.65,0.480,8452,0.000,0.057,2786,3404,2083,1914,2253,0,0,0,0,0,0,28.83,25.82,24.94
$GC,1709,1.70,190.0,2786,3404,1916,2250,116.2,17.3,213,1716,0.00,2.30,0.00,0.000,1030,0.000,0.048,2796,1984,2083,1916,2250,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1905,1.73,220.6,2795,1984,1915,2249,85.9,14.6,233,1939,0.00,2.38,26.27,0.513,8452,0.000,0.057,2796,3402,1959,1793,2126,0,0,1,0,0,0,28.83,25.81,25.07
$GC,1961,1.73,220.6,2796,3402,1795,2125,76.5,16.9,243,1968,0.00,2.28,0.00,0.000,1030,0.000,0.048,2805,2005,1959,1794,2125,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2148,1.74,223.8,2805,2008,1794,2122,45.7,16.5,262,2156,0.00,0.00,2.80,0.304,8198,0.000,0.000,2805,2004,1950,1788,2112,0,0,0,0,0,0,28.83,28.83,24.84
$GC,2338,1.75,235.8,2806,2005,1789,2113,15.3,15.9,281,2350,0.00,2.25,5.40,0.073,8708,0.000,0.057,2813,590,1901,1741,2062,0,0,0,0,0,0,28.83,26.01,25.96
$STATE,2413,end climb,SURFACE_DEPTH_REACHED
$STATE,2413,begin surface coast
$FINISH,0.8,1.021564
$STATE,2424,end surface coast,CONTROL_FINISHED_OK
$STATE,2424,begin surface
$SM_CCo,2447,26.35,0.048,0,0,1638,300.00
$SM_GC,1.79,7.35,2.17,26.35,0.049,0.047,0.048,94,1913,1638,-10.59,-1.07,300.00,0,0,0,0,0,0,26.04,26.10,26.13
$IRIDIUM_FIX,4707.04,-12222.91,190921,061906
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.22
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,9
$SC_FREEKB,3993248
$24V_AH,24.35,5.212
$10V_AH,9.71,3.153
$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,18.125,32.050,331.800,26.350,0.000,0.000,0.000,165.650,4.250,0.000,17.587,626.378,913.620,427.817,643.832,210.402,33.277,902.458,0.000,457.456,0.000,16.111,0.000
$DEVICE_MAMPS,257.805,103.275,582.165,48.195,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2431.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.393,0.000,0.000,0.000
$MEM,203744
$DATA_FILE_SIZE,10172,297
$CAP_FILE_SIZE,53861,0
$CFSIZE,260034560,248541184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$INTR,0,2859.23,0x239dd2,7,5
$CURRENT,0.058,300.6,1
$GPS,160714,212006,4725.446,-12222.024,14,1.9,31,18.1