version: 66.12
glider: 124
mission: 17
dive: 97
start: 7 17 114 18 52 1
data:
$ID,124
$MISSION,17
$DIVE,97
$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,-307974.44
$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,26
$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
$GPS1,170714,184433,4726.150,-12222.891,11,4.8,31,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-67.6
$GPS2,170714,185057,4726.134,-12222.973,12,2.2,32,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.177,-0.247
$KALMAN_X,-9126.1,167.6,110.5,6424.0,-136.6
$KALMAN_Y,9403.6,8.6,-220.1,-6241.7,220.7
$MHEAD_RNG_PITCHd_Wd,107.5,479,-25.0,-16.667,-28.75,1541
$D_GRID,183
$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,21,-1.69,-180.8,89,1918,1529,1748,0.0,0.0,0,103,0.00,0.00,-79.72,0.000,16386,0.000,0.000,89,1918,2913,2940,2886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,89,1918,2940,2888,3.2,-1.9,8,146,8.55,2.25,-20.88,0.000,18948,0.259,0.070,2037,513,3601,3666,3537,0,0,1,0,0,0,25.35,25.55,26.54
$GC,377,-1.59,-180.8,2036,513,3666,3537,61.1,-20.4,60,383,0.10,2.25,0.00,0.000,3078,0.201,0.046,2060,1931,3601,3666,3537,0,0,0,0,0,0,25.87,26.13,28.83
$GC,572,-1.59,-180.8,2060,1931,3666,3537,96.3,-17.9,80,577,0.00,2.30,0.00,0.000,516,0.000,0.057,2060,507,3601,3666,3537,0,0,0,0,0,0,28.83,26.11,28.83
$GC,647,-1.59,-180.8,2060,507,3666,3537,110.5,-18.6,94,652,0.00,2.25,0.00,0.000,1030,0.000,0.047,2060,1927,3601,3666,3537,0,0,0,0,0,0,28.83,26.20,28.83
$GC,841,-1.59,-180.8,2060,1927,3666,3537,146.5,-17.6,114,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,1927,3601,3666,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1021,-1.59,-180.8,2060,1927,3666,3537,178.8,-19.3,132,1029,0.00,2.20,0.00,0.000,260,0.000,0.059,2060,3327,3601,3666,3537,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,1039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1039,begin apogee
$GC,1049,-0.47,0.0,2060,2000,3668,3537,183.1,-19.4,135,1204,0.77,0.00,144.15,0.591,10246,0.135,0.000,2306,2000,2859,2754,2964,0,0,0,0,0,0,25.73,28.83,24.46
$STATE,1206,end apogee,CONTROL_FINISHED_OK
$STATE,1206,begin climb
$GC,1209,1.69,180.8,2306,2000,2753,2963,193.9,0.0,151,1368,1.42,2.42,147.43,0.568,11012,0.092,0.054,2780,3406,2121,1941,2301,0,0,1,0,0,0,25.24,25.02,24.35
$GC,1391,1.71,201.2,2779,3406,1942,2296,178.2,15.3,183,1418,0.00,2.35,17.70,0.534,9222,0.000,0.046,2790,1988,2039,1858,2220,0,0,0,0,0,0,28.83,25.32,24.48
$GC,1597,1.71,201.2,2790,1988,1858,2213,142.9,17.8,206,1603,0.00,2.33,0.00,0.000,260,0.000,0.054,2790,3409,2035,1858,2213,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1636,1.71,201.2,2790,3408,1860,2208,136.0,17.4,213,1644,0.00,2.28,0.00,0.000,1030,0.000,0.045,2799,2004,2034,1860,2208,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1822,1.72,207.0,2799,2004,1860,2207,105.4,16.3,232,1835,0.00,2.25,4.57,0.448,8708,0.000,0.054,2810,580,2017,1846,2188,0,0,0,0,0,0,28.83,26.01,24.87
$GC,1863,1.73,215.1,2810,580,1848,2188,98.6,16.1,239,1881,0.10,2.28,8.60,0.495,13318,0.164,0.045,2788,2006,1982,1814,2150,0,0,0,0,0,0,25.88,26.06,25.06
$GC,2060,1.73,215.1,2787,2006,1815,2149,63.5,19.3,260,2066,0.00,2.20,0.00,0.000,260,0.000,0.055,2787,3409,1982,1815,2149,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2177,1.73,215.1,2787,3409,1816,2148,42.3,17.3,282,2183,0.00,2.28,0.00,0.000,1030,0.000,0.047,2797,1984,1982,1817,2148,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2373,1.85,257.9,2795,1984,1817,2147,13.0,13.8,302,2393,0.00,0.00,18.20,0.067,8198,0.000,0.000,2796,1984,1811,1643,1980,0,0,0,0,0,0,28.83,28.83,26.09
$STATE,2449,end climb,SURFACE_DEPTH_REACHED
$STATE,2449,begin surface coast
$FINISH,0.9,1.003797
$STATE,2474,end surface coast,CONTROL_FINISHED_OK
$STATE,2474,begin surface
$SM_CCo,2495,17.17,0.049,0,0,1638,300.00
$SM_GC,1.66,7.28,0.10,17.17,0.047,0.108,0.049,89,1916,1638,-10.61,0.82,300.00,0,0,0,0,0,0,26.14,26.45,26.20
$IRIDIUM_FIX,4710.21,-12226.32,200921,043032
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.06
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,6
$SC_FREEKB,3982496
$24V_AH,24.35,6.926
$10V_AH,9.32,4.152
$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,18.225,31.900,340.650,17.175,0.000,0.000,0.000,200.975,3.250,0.000,33.418,656.834,900.008,426.388,695.096,234.622,33.279,946.852,0.000,480.977,0.000,12.087,0.000
$DEVICE_MAMPS,258.570,107.865,591.345,48.960,0.000,0.000,0.000,117.810,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2482.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.959,0.000,0.000,0.000
$MEM,204068
$DATA_FILE_SIZE,10120,312
$CAP_FILE_SIZE,55316,0
$CFSIZE,260034560,247566336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$INTR,0,2996.75,0x239dd2,7,5
$CURRENT,0.163,312.7,1
$GPS,170714,193505,4726.126,-12222.753,10,1.7,26,18.1