version: 66.12
glider: 124
mission: 17
dive: 95
start: 7 17 114 17 17 36
data:
$ID,124
$MISSION,17
$DIVE,95
$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,-307971.94
$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,27
$R_STBD_OVSHOOT,28
$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
$GPS1,170714,171006,4726.456,-12222.672,40,1.8,40,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-67.2
$GPS2,170714,171631,4726.493,-12222.718,17,1.8,17,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.050,-0.300
$KALMAN_X,-8780.4,136.7,81.7,6456.0,78.4
$KALMAN_Y,8998.6,17.7,-326.4,-5078.7,-7.5
$MHEAD_RNG_PITCHd_Wd,123.8,1042,-25.0,-16.667,-28.75,1541
$D_GRID,154
$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,-180.8,93,1915,1531,1744,0.0,0.0,0,112,0.00,0.00,-89.53,0.000,16386,0.000,0.000,93,1916,3110,3162,3059,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-1.69,-180.8,93,1916,3162,3060,3.7,-2.3,9,146,8.60,2.33,-12.05,0.000,18692,0.260,0.070,2041,3326,3601,3666,3537,0,0,0,0,0,0,25.29,25.92,26.49
$GC,199,-1.62,-180.8,2041,3326,3666,3538,22.3,-23.3,23,204,0.00,2.28,0.00,0.000,1030,0.000,0.047,2041,1914,3602,3666,3539,0,0,0,0,0,0,28.83,26.03,28.83
$GC,393,-1.62,-180.8,2041,1914,3666,3539,65.0,-19.1,43,398,0.00,2.30,0.00,0.000,260,0.000,0.056,2041,3327,3602,3666,3539,0,0,0,0,0,0,28.83,26.03,28.83
$GC,438,-1.62,-180.8,2041,3327,3666,3539,73.9,-20.3,51,444,0.00,2.28,0.00,0.000,1030,0.000,0.047,2041,1912,3602,3666,3539,0,0,0,0,0,0,28.83,26.14,28.83
$GC,632,-1.62,-180.8,2041,1911,3665,3538,111.0,-18.4,71,638,0.00,2.20,0.00,0.000,516,0.000,0.057,2041,506,3602,3665,3539,0,0,0,0,0,0,28.83,26.11,28.83
$GC,671,-1.62,-180.8,2041,506,3665,3539,119.0,-20.1,78,681,0.00,2.28,0.00,0.000,1030,0.000,0.047,2041,1929,3602,3665,3539,0,0,0,0,0,0,28.83,26.18,28.83
$STATE,817,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,817,begin apogee
$GC,825,-0.47,0.0,2042,2006,3664,3539,148.4,-19.6,93,975,0.85,0.00,142.18,0.568,10246,0.145,0.000,2305,2006,2859,2757,2962,0,0,0,0,0,0,25.67,28.83,24.49
$STATE,976,end apogee,CONTROL_FINISHED_OK
$STATE,976,begin climb
$GC,979,1.69,180.8,2305,2006,2755,2961,160.4,0.0,108,1137,1.40,2.30,145.55,0.546,10500,0.090,0.053,2774,3399,2119,1941,2298,0,0,0,0,0,0,25.23,25.07,24.39
$GC,1219,1.72,209.0,2773,3399,1943,2290,141.1,14.8,145,1251,0.00,2.30,23.35,0.520,9222,0.000,0.046,2784,1988,2005,1829,2181,0,0,0,0,0,0,28.83,25.55,24.60
$GC,1430,1.73,215.8,2784,1988,1830,2175,107.5,16.2,169,1439,0.00,0.00,5.28,0.453,8198,0.000,0.000,2784,1989,1983,1813,2153,0,0,0,0,0,0,28.83,28.83,24.92
$GC,1620,1.74,229.3,2784,1988,1814,2151,78.0,15.8,188,1641,0.00,2.28,13.40,0.497,8708,0.000,0.059,2786,596,1924,1756,2092,0,0,0,0,0,0,28.83,25.91,25.05
$GC,1680,1.83,238.6,2786,597,1757,2092,68.4,16.0,199,1698,0.00,2.25,8.80,0.478,9222,0.000,0.045,2786,2004,1887,1720,2054,0,0,0,0,0,0,28.83,25.98,24.98
$GC,1877,1.94,262.7,2786,2004,1720,2052,37.4,15.1,220,1905,0.12,0.00,21.02,0.494,10758,0.085,0.000,2847,2004,1788,1626,1951,0,0,0,0,0,0,26.26,28.83,25.10
$STATE,2073,end climb,SURFACE_DEPTH_REACHED
$STATE,2073,begin surface coast
$FINISH,0.9,1.021734
$STATE,2085,end surface coast,CONTROL_FINISHED_OK
$STATE,2085,begin surface
$SM_CCo,2106,14.77,0.049,0,0,1638,300.00
$SM_GC,2.25,7.47,0.17,14.77,0.049,0.079,0.049,92,1915,1638,-10.60,0.79,300.00,0,0,1,0,0,0,25.96,26.17,26.06
$IRIDIUM_FIX,4710.21,-12220.22,200921,030937
$TT8_MAMPS,0.029211,0.029211
$HUMID,65.51
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.40
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,130.7,27.7
$SC_FREEKB,3983264
$24V_AH,24.39,6.800
$10V_AH,9.29,4.077
$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,18.450,23.050,359.575,14.775,0.000,0.000,0.000,219.375,4.000,0.000,17.749,514.435,763.900,437.504,593.182,214.865,33.266,927.131,0.000,382.476,0.000,9.917,0.000
$DEVICE_MAMPS,260.100,113.985,568.395,48.960,0.000,0.000,0.000,112.455,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2091.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.252,0.000,0.000,0.000
$MEM,204048
$DATA_FILE_SIZE,6823,242
$CAP_FILE_SIZE,47239,0
$CFSIZE,260034560,247652352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2278.72,0x239dd2,7,5
$CURRENT,0.224,285.9,1
$GPS,170714,175415,4726.306,-12222.801,13,2.2,33,18.1