version: 66.12
glider: 124
mission: 17
dive: 100
start: 7 17 114 21 22 32
data:
$ID,124
$MISSION,17
$DIVE,100
$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,-307978.19
$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,33
$ROLL_AD_RATE,250
$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
$GPS1,170714,211459,4725.935,-12222.706,34,1.9,37,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-66.9
$GPS2,170714,212127,4726.006,-12222.764,12,2.2,32,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TTP_NE
$TGT_LATLONG,4726.556,-12222.511
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.149,0.265
$KALMAN_X,-9211.3,100.4,-41.7,6987.6,-46.2
$KALMAN_Y,10338.7,122.6,200.2,-7945.7,300.2
$MHEAD_RNG_PITCHd_Wd,14.8,1068,-25.0,-16.667,-28.75,1541
$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,-1.69,-180.8,90,1920,1530,1750,0.0,0.0,0,102,0.00,0.00,-79.60,0.000,16386,0.000,0.000,90,1920,2939,2965,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,90,1919,2965,2915,3.3,-1.7,8,145,8.57,2.40,-19.92,0.000,18692,0.259,0.071,2037,3330,3601,3665,3538,0,0,0,0,0,0,25.34,25.94,26.53
$GC,375,-1.69,-180.8,2036,3330,3666,3539,57.6,-20.8,60,380,0.00,2.28,0.00,0.000,1030,0.000,0.047,2037,1914,3603,3667,3539,0,0,0,0,0,0,28.83,26.13,28.83
$GC,569,-1.69,-180.8,2037,1913,3665,3539,93.8,-18.3,80,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1913,3602,3665,3539,0,0,0,0,0,0,28.83,28.83,28.83
$GC,750,-1.69,-180.8,2036,1914,3665,3539,127.4,-18.3,98,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1914,3602,3666,3539,0,0,0,0,0,0,28.83,28.83,28.83
$GC,940,-1.69,-180.8,2037,1914,3665,3540,160.2,-16.2,117,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1914,3602,3666,3539,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1016,begin apogee
$GC,1024,-0.47,0.0,2036,2007,3665,3539,173.7,-17.2,125,1175,0.88,0.00,143.43,0.580,10246,0.146,0.000,2303,2007,2859,2755,2964,0,0,0,0,0,0,25.63,28.83,24.48
$STATE,1177,end apogee,CONTROL_FINISHED_OK
$STATE,1177,begin climb
$GC,1180,1.69,180.8,2303,2007,2753,2963,184.5,0.0,140,1335,1.40,2.33,144.55,0.560,10500,0.084,0.053,2778,3410,2120,1939,2301,0,0,0,0,0,0,25.25,25.06,24.35
$GC,1364,1.69,180.8,2778,3410,1941,2299,169.9,16.9,175,1370,0.00,2.35,0.00,0.000,1030,0.000,0.047,2788,1993,2118,1941,2296,0,0,0,0,0,0,28.83,25.33,28.83
$GC,1550,1.69,180.8,2788,1993,1941,2292,139.3,17.0,194,1555,0.00,2.25,0.00,0.000,516,0.000,0.057,2798,590,2115,1941,2290,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1575,1.69,180.8,2798,590,1942,2290,135.2,17.1,198,1580,0.00,2.28,0.00,0.000,1030,0.000,0.044,2798,2005,2116,1942,2290,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1769,1.69,180.8,2797,2004,1943,2285,102.1,16.8,218,1775,0.00,2.22,0.00,0.000,260,0.000,0.056,2798,3409,2114,1943,2285,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1808,1.69,180.8,2798,3410,1945,2282,94.7,19.1,225,1816,0.12,2.30,0.00,0.000,5126,0.163,0.047,2778,1985,2114,1946,2282,0,0,0,0,0,0,25.82,26.03,28.83
$GC,1995,1.73,218.4,2777,1984,1946,2280,67.3,14.2,244,2033,0.00,0.00,31.25,0.506,8198,0.000,0.000,2778,1984,1968,1799,2137,0,0,0,0,0,0,28.83,28.83,25.17
$GC,2216,1.89,271.8,2778,1984,1799,2135,36.9,13.1,266,2269,0.12,2.38,45.10,0.492,10500,0.089,0.054,2838,3412,1750,1587,1913,0,0,0,0,0,0,26.25,25.70,25.01
$GC,2309,1.89,271.8,2837,3411,1592,1908,20.8,18.7,283,2316,0.12,2.30,0.00,0.000,5126,0.166,0.047,2818,1999,1750,1592,1908,0,0,0,0,0,0,25.60,25.80,28.83
$STATE,2415,end climb,SURFACE_DEPTH_REACHED
$STATE,2415,begin surface coast
$FINISH,0.9,1.021482
$STATE,2423,end surface coast,CONTROL_FINISHED_OK
$STATE,2423,begin surface
$SM_CCo,2443,10.90,0.050,0,0,1639,300.00
$SM_GC,3.24,7.40,0.12,10.90,0.047,0.096,0.050,95,1915,1639,-10.58,0.79,300.00,0,0,0,0,0,0,25.85,26.08,25.94
$IRIDIUM_FIX,4707.04,-12222.91,200921,070018
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.67
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,170.2,22.4
$SC_FREEKB,3981344
$24V_AH,24.35,7.117
$10V_AH,9.61,4.264
$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,18.625,23.475,364.325,10.900,0.000,0.000,0.000,204.750,4.250,0.000,33.013,608.359,917.210,431.153,677.261,225.942,33.277,944.525,0.000,457.103,0.000,16.280,0.000
$DEVICE_MAMPS,259.335,146.115,579.870,49.725,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2432.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.410,0.000,0.000,0.000
$MEM,204096
$DATA_FILE_SIZE,10135,295
$CAP_FILE_SIZE,52194,0
$CFSIZE,260034560,247459840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.160,330.3,1
$GPS,170714,220435,4726.477,-12222.657,7,1.5,23,18.1