version: 66.12
glider: 124
mission: 17
dive: 82
start: 7 17 114 7 2 56
data:
$ID,124
$MISSION,17
$DIVE,82
$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,-307955.69
$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,29
$R_STBD_OVSHOOT,34
$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
$GPS1,170714,065600,4725.610,-12222.101,8,1.9,13,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-67.7
$GPS2,170714,070151,4725.637,-12222.076,16,2.4,36,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.060,-0.298
$KALMAN_X,-9277.2,-201.0,110.8,8065.7,29.9
$KALMAN_Y,9161.3,-34.1,-74.4,-7024.0,285.6
$MHEAD_RNG_PITCHd_Wd,140.6,423,-25.0,-16.667,-28.75,1541
$D_GRID,172
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.69,-180.8,88,1918,1531,1751,0.0,0.0,0,102,0.00,0.00,-79.50,0.000,16386,0.000,0.000,88,1918,2918,2944,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,88,1918,2944,2892,3.2,-1.9,8,145,8.55,2.38,-20.58,0.000,18692,0.259,0.072,2036,3321,3601,3666,3537,0,0,0,0,0,0,25.37,25.94,26.55
$GC,328,-1.69,-180.8,2037,3321,3666,3539,46.4,-20.6,50,333,0.00,2.28,0.00,0.000,1030,0.000,0.048,2037,1914,3602,3666,3539,0,0,0,0,0,0,28.83,26.10,28.83
$GC,523,-1.69,-180.8,2037,1914,3665,3539,86.4,-21.6,70,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1914,3602,3666,3539,0,0,0,0,0,0,28.83,28.83,28.83
$GC,703,-1.69,-180.8,2037,1914,3666,3539,120.8,-18.5,88,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1914,3602,3666,3539,0,0,0,0,0,0,28.83,28.83,28.83
$GC,893,-1.69,-180.8,2036,1914,3666,3539,155.7,-18.2,107,898,0.00,2.28,0.00,0.000,260,0.000,0.057,2037,3320,3602,3666,3539,0,0,0,0,0,0,28.83,26.13,28.83
$GC,934,-1.69,-180.8,2037,3320,3666,3539,162.4,-16.2,114,941,0.00,2.25,0.00,0.000,1030,0.000,0.049,2037,1917,3602,3665,3539,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,986,begin apogee
$GC,994,-0.47,0.0,2037,2007,3665,3539,173.3,-19.6,120,1151,0.85,0.00,144.95,0.578,10246,0.144,0.000,2301,2006,2858,2752,2964,0,0,0,0,0,0,25.64,28.83,24.49
$STATE,1152,end apogee,CONTROL_FINISHED_OK
$STATE,1152,begin climb
$GC,1155,1.69,180.8,2300,2007,2751,2963,183.3,0.0,136,1312,1.42,2.33,146.90,0.558,10500,0.090,0.053,2779,3410,2119,1940,2299,0,0,0,0,0,0,25.25,25.04,24.36
$GC,1383,1.69,184.0,2780,3410,1940,2290,159.0,16.5,174,1390,0.00,2.33,0.00,0.000,1030,0.000,0.046,2789,1995,2115,1941,2290,0,0,0,0,0,0,28.83,25.49,28.83
$GC,1568,1.69,184.0,2789,1995,1941,2285,128.0,17.5,193,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1995,2113,1941,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1749,1.71,197.8,2789,1995,1941,2282,96.3,15.8,211,1770,0.00,2.28,13.43,0.502,8708,0.000,0.058,2798,598,2053,1882,2224,0,0,0,0,0,0,28.83,25.94,25.11
$GC,1814,1.71,197.8,2798,598,1883,2221,85.8,17.4,223,1820,0.00,2.25,0.00,0.000,1030,0.000,0.044,2798,2005,2053,1883,2224,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2008,1.72,205.6,2798,2005,1883,2219,54.9,16.1,243,2025,0.00,2.28,7.32,0.463,8452,0.000,0.055,2798,3408,2020,1855,2186,0,0,0,0,0,0,28.83,26.08,25.17
$GC,2068,1.74,223.8,2798,3408,1857,2183,45.3,15.5,254,2090,0.00,2.28,16.33,0.499,9222,0.000,0.047,2808,2002,1948,1783,2114,0,0,0,0,0,0,28.83,26.08,25.13
$GC,2280,1.76,244.1,2808,2002,1781,2108,12.8,15.3,277,2290,0.00,0.00,8.50,0.067,8198,0.000,0.000,2808,2002,1866,1699,2033,0,0,0,0,0,0,28.83,28.83,25.99
$STATE,2346,end climb,SURFACE_DEPTH_REACHED
$STATE,2346,begin surface coast
$FINISH,0.9,1.019623
$STATE,2357,end surface coast,CONTROL_FINISHED_OK
$STATE,2357,begin surface
$SM_CCo,2378,22.88,0.048,0,0,1639,300.00
$SM_GC,1.53,7.35,0.12,22.88,0.048,0.096,0.048,91,1918,1639,-10.60,0.85,300.00,0,0,0,0,0,0,26.03,26.29,26.12
$IRIDIUM_FIX,4707.04,-12222.91,190921,164240
$TT8_MAMPS,0.029211,0.029211
$HUMID,66.26
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,19.20
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,160.5,30.0
$SC_FREEKB,3988256
$24V_AH,24.36,6.009
$10V_AH,9.81,3.619
$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,18.175,23.200,337.425,22.875,0.000,0.000,0.000,165.875,4.500,0.000,36.736,608.989,887.511,423.683,646.530,203.988,33.276,884.298,0.000,437.581,0.000,17.586,0.000
$DEVICE_MAMPS,258.570,95.625,578.340,48.195,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2365.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.476,0.000,0.000,0.000
$MEM,203668
$DATA_FILE_SIZE,10139,285
$CAP_FILE_SIZE,51237,0
$CFSIZE,260034560,248086528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2957.21,0x239dd2,7,5
$CURRENT,0.141,336.5,1
$GPS,170714,074415,4725.472,-12222.018,12,2.3,32,18.1