version: 66.12
glider: 124
mission: 17
dive: 78
start: 7 17 114 3 47 44
data:
$ID,124
$MISSION,17
$DIVE,78
$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,-307950.69
$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,25
$R_STBD_OVSHOOT,27
$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
$GPS1,170714,033848,4726.286,-12222.756,13,1.3,30,18.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-67.6
$GPS2,170714,034639,4726.277,-12222.798,12,3.2,32,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.075,-0.294
$KALMAN_X,-9260.9,-132.1,-23.8,7211.4,-93.1
$KALMAN_Y,8444.2,-92.3,-298.5,-4835.4,15.4
$MHEAD_RNG_PITCHd_Wd,126.9,647,-25.0,-16.667,-28.75,1541
$D_GRID,182
$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,-180.8,95,1921,1531,1744,0.0,0.0,0,102,0.00,0.00,-79.75,0.000,16386,0.000,0.000,95,1921,2916,2941,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,95,1921,2941,2892,3.1,-1.7,8,145,8.52,2.28,-20.92,0.000,18948,0.258,0.070,2037,507,3601,3665,3538,0,0,1,0,0,0,25.33,25.53,26.53
$GC,375,-1.56,-180.8,2037,507,3666,3537,62.7,-21.7,60,381,0.12,2.25,0.00,0.000,3078,0.193,0.046,2067,1920,3602,3666,3538,0,0,0,0,0,0,25.79,26.11,28.83
$GC,570,-1.56,-180.8,2066,1921,3666,3538,103.7,-18.1,80,575,0.00,2.30,0.00,0.000,516,0.000,0.056,2067,506,3601,3665,3538,0,0,0,0,0,0,28.83,26.08,28.83
$GC,721,-1.56,-180.8,2067,505,3666,3538,130.4,-17.9,109,729,0.00,2.25,0.00,0.000,1030,0.000,0.046,2067,1925,3602,3666,3538,0,0,0,0,0,0,28.83,26.20,28.83
$GC,907,-1.56,-180.8,2067,1925,3665,3538,163.7,-17.9,128,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,1926,3601,3665,3538,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1014,begin apogee
$GC,1022,-0.47,0.0,2067,2008,3665,3538,183.4,-17.5,139,1172,0.75,0.00,142.20,0.586,10246,0.140,0.000,2303,2008,2859,2754,2964,0,0,0,0,0,0,25.67,28.83,24.48
$STATE,1173,end apogee,CONTROL_FINISHED_OK
$STATE,1174,begin climb
$GC,1177,1.69,180.8,2302,2008,2752,2964,192.9,0.0,154,1329,1.42,0.00,146.00,0.564,10758,0.090,0.000,2776,2008,2123,1944,2302,0,0,0,0,0,0,25.22,28.83,24.34
$GC,1508,1.70,191.0,2776,2008,1943,2291,152.6,16.0,198,1524,0.00,2.28,8.50,0.496,8452,0.000,0.055,2777,3415,2080,1909,2251,0,0,0,0,0,0,28.83,25.70,24.80
$GC,1553,1.70,195.9,2776,3415,1910,2249,145.3,16.3,206,1565,0.00,2.30,4.15,0.428,9222,0.000,0.046,2786,1996,2063,1894,2233,0,0,0,0,0,0,28.83,25.77,24.65
$GC,1744,1.73,221.3,2786,1999,1899,2232,114.6,15.0,226,1772,0.00,0.00,23.67,0.533,8710,0.000,0.000,2786,1996,1957,1789,2125,0,0,0,0,0,0,28.83,28.83,24.97
$GC,1954,1.76,241.9,2786,1996,1789,2121,82.4,15.3,249,1980,0.00,2.33,18.12,0.519,8708,0.000,0.060,2786,588,1872,1706,2038,0,0,0,0,0,0,28.83,25.82,25.01
$GC,2042,1.83,296.9,2786,588,1707,2038,69.2,13.0,265,2095,0.00,2.25,46.10,0.526,9222,0.000,0.044,2786,1999,1648,1486,1811,0,0,0,0,0,0,28.83,25.94,24.74
$GC,2274,1.91,296.9,2786,1999,1493,1811,27.7,16.7,293,2281,0.15,0.00,0.00,0.000,2054,0.078,0.000,2850,1999,1652,1493,1811,0,0,0,0,0,0,26.06,28.83,28.83
$STATE,2401,end climb,SURFACE_DEPTH_REACHED
$STATE,2404,begin surface coast
$FINISH,0.8,1.007412
$STATE,2412,end surface coast,CONTROL_FINISHED_OK
$STATE,2412,begin surface
$SM_CCo,2432,0.98,0.052,0,0,1639,300.00
$SM_GC,2.72,7.47,0.20,0.98,0.048,0.079,0.052,94,1911,1639,-10.58,0.65,300.00,0,0,0,0,0,0,25.94,26.12,26.03
$IRIDIUM_FIX,4710.21,-12221.92,190921,133358
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.34
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,18.40
$XPDR_PINGS,13
$SC_FREEKB,3989792
$24V_AH,24.34,5.763
$10V_AH,9.31,3.475
$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,18.450,18.550,388.750,0.975,0.000,0.000,0.000,231.050,5.000,0.000,32.930,622.799,928.644,423.222,721.712,226.778,33.266,972.954,0.000,479.718,0.000,12.095,0.000
$DEVICE_MAMPS,257.805,104.805,585.990,52.020,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2420.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.661,0.000,0.000,0.000
$MEM,204048
$DATA_FILE_SIZE,10118,307
$CAP_FILE_SIZE,52703,0
$CFSIZE,260034560,248229888
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2568.16,0x239dd2,7,5
$INTR,1,1280.34,0x23699e,1,24
$CURRENT,0.133,258.6,1
$GPS,170714,042933,4726.001,-12222.749,10,2.8,30,18.1