version: 66.12
glider: 124
mission: 17
dive: 79
start: 7 17 114 4 36 18
data:
$ID,124
$MISSION,17
$DIVE,79
$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,-307951.94
$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,29
$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
$GPS1,170714,042933,4726.001,-12222.749,10,2.8,30,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-67.0
$GPS2,170714,043513,4725.943,-12222.769,11,1.5,11,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.222,-0.208
$KALMAN_X,-9401.9,-168.3,26.2,7372.0,-81.1
$KALMAN_Y,8483.6,-106.0,-300.3,-5476.9,86.5
$MHEAD_RNG_PITCHd_Wd,93.5,1414,-25.0,-16.667,-28.75,1541
$D_GRID,174
$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,-180.8,94,1911,1514,1754,0.0,0.0,0,102,0.00,0.00,-80.18,0.000,16386,0.000,0.000,94,1911,2936,2966,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,94,1911,2964,2907,3.3,-1.8,8,141,8.57,2.40,-19.50,0.000,18692,0.260,0.070,2036,3323,3600,3665,3536,0,0,0,0,0,0,25.33,25.93,26.51
$GC,371,-1.61,-180.8,2036,3322,3665,3538,59.0,-18.2,59,378,0.10,2.25,0.00,0.000,3078,0.193,0.047,2059,1919,3601,3665,3538,0,0,0,0,0,0,25.88,26.10,28.83
$GC,557,-1.61,-180.8,2059,1919,3665,3538,93.8,-19.5,78,563,0.00,2.30,0.00,0.000,260,0.000,0.058,2060,3330,3601,3665,3538,0,0,0,0,0,0,28.83,26.06,28.83
$GC,596,-1.55,-180.8,2059,3330,3665,3537,102.1,-23.1,85,603,0.00,2.25,0.00,0.000,1030,0.000,0.048,2059,1921,3601,3665,3538,0,0,0,0,0,0,28.83,26.17,28.83
$GC,782,-1.55,-180.8,2060,1921,3665,3538,134.6,-18.1,104,788,0.00,2.28,0.00,0.000,260,0.000,0.056,2060,3328,3601,3665,3538,0,0,0,0,0,0,28.83,26.12,28.83
$GC,847,-1.55,-180.8,2059,3329,3667,3538,146.3,-17.7,116,852,0.00,2.25,0.00,0.000,1030,0.000,0.047,2060,1918,3601,3665,3538,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,998,begin apogee
$GC,1006,-0.47,0.0,2059,2007,3665,3538,174.5,-17.7,132,1156,0.77,0.00,143.15,0.594,10246,0.142,0.000,2302,2007,2860,2756,2965,0,0,0,0,0,0,25.68,28.83,24.46
$STATE,1157,end apogee,CONTROL_FINISHED_OK
$STATE,1158,begin climb
$GC,1161,1.69,180.8,2301,2007,2753,2963,183.5,0.0,147,1319,1.42,2.33,146.57,0.567,10500,0.090,0.053,2775,3410,2120,1940,2301,0,0,0,0,0,0,25.20,25.03,24.35
$GC,1382,1.69,187.6,2775,3410,1942,2292,160.4,16.2,181,1394,0.00,2.33,4.68,0.451,9222,0.000,0.046,2785,2000,2099,1924,2274,0,0,0,0,0,0,28.83,25.47,24.50
$GC,1583,1.69,187.6,2785,2000,1928,2271,126.8,17.4,202,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2000,2099,1928,2271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1763,1.69,187.6,2785,2000,1928,2269,97.8,16.9,220,1769,0.00,2.30,0.00,0.000,260,0.000,0.054,2785,3413,2098,1928,2269,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1818,1.74,225.5,2785,3413,1930,2264,90.1,14.2,230,1859,0.00,2.28,33.72,0.525,9222,0.000,0.047,2795,1992,1938,1769,2107,0,0,0,0,0,0,28.83,26.05,25.03
$GC,2038,1.74,225.5,2795,1992,1770,2106,53.5,17.7,256,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1992,1937,1770,2105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2219,1.80,277.1,2795,1992,1770,2103,27.3,13.2,274,2260,0.00,0.00,39.10,0.490,8198,0.000,0.000,2795,1992,1731,1567,1895,0,0,0,0,0,0,28.83,28.83,25.10
$STATE,2376,end climb,SURFACE_DEPTH_REACHED
$STATE,2376,begin surface coast
$FINISH,0.9,1.010887
$STATE,2387,end surface coast,CONTROL_FINISHED_OK
$STATE,2387,begin surface
$SM_CCo,2408,8.60,0.048,0,0,1638,300.00
$SM_GC,2.90,7.38,0.10,8.60,0.049,0.116,0.048,89,1926,1638,-10.61,1.05,300.00,0,0,0,0,0,0,25.89,26.12,25.96
$IRIDIUM_FIX,4710.21,-12220.22,190921,141640
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.85
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.40
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,160.1,31.1
$SC_FREEKB,3989408
$24V_AH,24.35,5.828
$10V_AH,9.83,3.510
$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,18.250,23.225,367.225,8.600,0.000,0.000,0.000,179.900,4.250,0.000,12.000,620.755,876.482,430.173,642.964,203.671,33.274,905.193,0.000,449.113,0.000,14.714,0.000
$DEVICE_MAMPS,260.100,115.515,594.405,48.195,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2394.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.652,0.000,0.000,0.000
$MEM,203704
$DATA_FILE_SIZE,10174,291
$CAP_FILE_SIZE,50735,0
$CFSIZE,260034560,248193024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2912.93,0x239dd2,7,5
$CURRENT,0.058, 90.0,1
$GPS,170714,051751,4725.793,-12222.224,11,5.1,31,18.1