version: 66.12
glider: 124
mission: 17
dive: 83
start: 7 17 114 7 51 34
data:
$ID,124
$MISSION,17
$DIVE,83
$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,-307956.94
$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,28
$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
$GPS1,170714,074415,4725.472,-12222.018,12,2.3,32,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-66.5
$GPS2,170714,075027,4725.515,-12222.069,15,2.5,35,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.145,-0.250
$KALMAN_X,-9411.9,-186.0,134.0,8170.7,-81.3
$KALMAN_Y,9348.0,18.8,63.7,-7625.1,273.5
$MHEAD_RNG_PITCHd_Wd,125.9,232,-26.4,-16.667,-30.00,1390
$D_GRID,173
$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,-1.75,-161.4,91,1918,1531,1745,0.0,0.0,0,102,0.00,0.00,-79.50,0.000,16386,0.000,0.000,91,1918,2926,2953,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.77,-180.8,90,1918,2953,2900,3.4,-2.0,8,143,8.48,2.25,-19.70,0.000,18948,0.258,0.067,2017,503,3600,3665,3535,0,0,0,0,0,0,25.35,25.97,26.56
$GC,180,-1.60,-180.8,2017,503,3666,3536,15.7,-20.3,19,186,0.17,2.28,0.00,0.000,3078,0.190,0.047,2061,1926,3601,3666,3536,0,0,0,0,0,0,25.61,26.03,28.83
$GC,374,-1.60,-180.8,2060,1927,3666,3536,54.7,-18.1,39,380,0.00,2.20,0.00,0.000,260,0.000,0.057,2060,3325,3601,3666,3537,0,0,0,0,0,0,28.83,26.03,28.83
$GC,413,-1.60,-180.8,2060,3325,3665,3537,61.7,-17.6,46,420,0.00,2.25,0.00,0.000,1030,0.000,0.047,2059,1918,3600,3665,3536,0,0,0,0,0,0,28.83,26.13,28.83
$GC,598,-1.60,-180.8,2061,1918,3665,3537,94.1,-17.5,65,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,1918,3601,3666,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,778,-1.60,-180.8,2061,1918,3665,3537,124.7,-17.0,83,784,0.00,2.22,0.00,0.000,516,0.000,0.057,2061,509,3601,3665,3537,0,0,0,0,0,0,28.83,26.13,28.83
$GC,827,-1.60,-180.8,2061,508,3665,3537,134.0,-19.4,92,834,0.00,2.25,0.00,0.000,1030,0.000,0.047,2061,1932,3601,3665,3537,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1014,-1.66,-180.8,2061,1932,3665,3537,166.3,-16.7,111,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,1932,3601,3665,3537,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1060,begin apogee
$GC,1068,-0.47,0.0,2061,2005,3665,3537,174.0,-15.2,116,1223,0.77,0.00,143.35,0.582,10246,0.142,0.000,2303,2006,2859,2753,2965,0,0,0,0,0,0,25.66,28.83,24.49
$STATE,1225,end apogee,CONTROL_FINISHED_OK
$STATE,1225,begin climb
$GC,1228,1.77,180.8,2303,2006,2751,2964,181.7,0.0,132,1386,1.48,2.40,146.02,0.559,10500,0.091,0.054,2796,3410,2120,1941,2299,0,0,0,0,0,0,25.25,25.05,24.36
$GC,1425,1.77,180.8,2796,3410,1942,2292,161.2,19.3,158,1431,0.00,2.35,0.00,0.000,1030,0.000,0.047,2806,1985,2117,1942,2292,0,0,0,0,0,0,28.83,25.38,28.83
$GC,1611,1.77,180.9,2806,1985,1943,2286,128.6,16.7,177,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1985,2114,1943,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1800,1.77,180.9,2806,1984,1943,2283,97.0,16.8,196,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1985,2113,1943,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1981,1.78,185.4,2806,1985,1944,2280,67.6,16.3,214,1986,0.00,2.30,0.00,0.000,260,0.000,0.054,2806,3408,2112,1945,2280,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2040,1.79,199.1,2806,3408,1946,2277,57.8,15.7,225,2062,0.00,2.25,14.55,0.490,9222,0.000,0.047,2816,2005,2047,1881,2213,0,0,0,0,0,0,28.83,26.12,25.24
$GC,2252,1.87,261.3,2819,2004,1881,2209,25.2,12.1,248,2303,0.00,0.00,48.85,0.483,8454,0.000,0.000,2816,2004,1795,1625,1966,0,0,0,0,0,0,28.83,28.83,25.06
$STATE,2388,end climb,SURFACE_DEPTH_REACHED
$STATE,2388,begin surface coast
$FINISH,0.9,1.021451
$STATE,2401,end surface coast,CONTROL_FINISHED_OK
$STATE,2401,begin surface
$SM_CCo,2422,15.10,0.049,0,0,1639,300.00
$SM_GC,2.30,7.35,0.12,15.10,0.044,0.093,0.049,93,1917,1639,-10.58,0.96,300.00,0,0,0,0,0,0,25.90,26.05,25.91
$IRIDIUM_FIX,4710.21,-12221.92,190921,173208
$TT8_MAMPS,0.029211,0.029211
$HUMID,66.42
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,6
$SC_FREEKB,3987872
$24V_AH,24.36,6.071
$10V_AH,9.29,3.656
$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,18.250,22.975,352.775,15.100,0.000,0.000,0.000,188.350,3.250,0.000,35.737,594.841,946.933,441.666,637.329,207.888,33.268,907.656,0.000,421.533,0.000,13.354,0.000
$DEVICE_MAMPS,257.805,112.455,582.165,48.960,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2408.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.414,0.000,0.000,0.000
$MEM,203656
$DATA_FILE_SIZE,10141,266
$CAP_FILE_SIZE,51105,0
$CFSIZE,260034560,248049664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2916.94,0x239dd2,7,5
$CURRENT,0.095,328.5,1
$GPS,170714,083327,4725.334,-12221.861,11,4.1,31,18.1