version: 66.12
glider: 124
mission: 17
dive: 110
start: 7 18 114 4 51 36
data:
$ID,124
$MISSION,17
$DIVE,110
$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,-307990.69
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,180714,044425,4726.342,-12222.603,10,1.5,10,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-67.3
$GPS2,180714,045031,4726.358,-12222.648,11,1.9,11,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.003,-0.304
$KALMAN_X,-9727.1,-57.2,81.0,7687.8,-117.6
$KALMAN_Y,10707.0,211.8,-191.0,-7358.7,-98.8
$MHEAD_RNG_PITCHd_Wd,151.4,801,-25.0,-16.667,-28.75,1541
$D_GRID,179
$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,-180.8,95,1916,1534,1747,0.0,0.0,0,103,0.00,0.00,-80.28,0.000,16386,0.000,0.000,95,1915,2957,2989,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,95,1916,2989,2925,3.5,-2.1,8,142,8.60,2.35,-17.25,0.000,18692,0.261,0.070,2035,3338,3600,3663,3537,0,0,0,0,0,0,25.31,25.91,26.52
$GC,174,-1.55,-180.8,2035,3338,3664,3538,17.9,-27.1,19,180,0.15,2.30,0.00,0.000,3078,0.178,0.049,2074,1916,3601,3664,3538,0,0,0,0,0,0,25.67,26.01,28.83
$GC,369,-1.55,-180.8,2074,1916,3664,3538,61.1,-18.0,39,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,1916,3601,3664,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,549,-1.55,-180.8,2074,1916,3663,3538,91.6,-16.4,57,556,0.00,2.22,0.00,0.000,516,0.000,0.057,2075,504,3600,3663,3538,0,0,0,0,0,0,28.83,26.06,28.83
$GC,628,-1.55,-180.8,2074,504,3663,3538,105.7,-17.7,72,635,0.00,2.25,0.00,0.000,1030,0.000,0.046,2074,1919,3600,3663,3538,0,0,0,0,0,0,28.83,26.18,28.83
$GC,815,-1.55,-180.8,2074,1919,3663,3538,135.1,-16.1,91,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,1919,3600,3662,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1005,-1.55,-180.8,2074,1919,3663,3538,167.5,-17.0,110,1010,0.00,2.22,0.00,0.000,260,0.000,0.057,2074,3333,3600,3663,3538,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1031,-1.55,-180.8,2074,3333,3663,3538,171.8,-17.4,114,1036,0.00,2.28,0.00,0.000,1030,0.000,0.048,2074,1914,3600,3663,3538,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,1071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1072,begin apogee
$GC,1080,-0.47,0.0,2074,2007,3662,3538,179.4,-17.0,119,1229,0.73,0.00,142.05,0.584,10246,0.135,0.000,2305,2007,2860,2756,2965,0,0,0,0,0,0,25.70,28.83,24.48
$STATE,1230,end apogee,CONTROL_FINISHED_OK
$STATE,1230,begin climb
$GC,1234,1.69,180.8,2305,2007,2753,2963,189.0,0.0,134,1388,1.40,0.00,146.25,0.565,10246,0.089,0.000,2774,2007,2121,1940,2303,0,0,0,0,0,0,25.24,28.83,24.34
$GC,1570,1.74,227.3,2774,2007,1943,2294,154.0,13.6,168,1615,0.00,2.33,38.28,0.539,8452,0.000,0.054,2774,3405,1931,1755,2107,0,0,0,0,0,0,28.83,25.48,24.67
$GC,1681,1.75,235.4,2774,3404,1761,2106,136.9,16.1,189,1699,0.00,2.30,8.32,0.490,9222,0.000,0.046,2785,1990,1898,1726,2071,0,0,0,0,0,0,28.83,25.70,24.71
$GC,1878,1.75,235.4,2784,1990,1727,2070,104.1,16.9,210,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1990,1899,1728,2070,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2059,1.82,238.6,2784,1990,1727,2069,73.8,16.5,228,2071,0.00,2.28,2.78,0.308,8708,0.000,0.057,2786,593,1890,1722,2059,0,0,0,0,0,0,28.83,26.03,24.70
$GC,2080,1.90,253.1,2786,592,1724,2059,70.4,15.7,231,2102,0.12,2.25,14.32,0.500,11270,0.086,0.044,2842,2006,1827,1662,1993,0,0,0,0,0,0,26.11,26.10,25.09
$GC,2292,1.91,258.7,2841,2006,1662,1989,32.2,16.3,254,2299,0.00,0.00,2.15,0.190,8198,0.000,0.000,2842,2006,1807,1645,1969,0,0,0,0,0,0,28.83,28.83,24.65
$STATE,2468,end climb,SURFACE_DEPTH_REACHED
$STATE,2468,begin surface coast
$FINISH,0.8,1.010916
$STATE,2479,end surface coast,CONTROL_FINISHED_OK
$STATE,2479,begin surface
$SM_CCo,2500,16.65,0.049,0,0,1639,300.00
$SM_GC,1.93,7.40,0.20,16.65,0.047,0.072,0.049,94,1907,1639,-10.58,0.74,300.00,0,0,0,0,0,0,26.10,26.32,26.16
$IRIDIUM_FIX,4707.04,-12222.91,200921,143424
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.83
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,19.30
$XPDR_PINGS,10
$SC_FREEKB,3977504
$24V_AH,24.34,7.730
$10V_AH,9.32,4.606
$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,18.400,23.225,354.150,16.650,0.000,0.000,0.000,203.875,4.250,0.000,12.008,607.649,997.389,443.681,621.078,230.847,33.279,929.696,0.000,426.704,0.000,13.290,0.000
$DEVICE_MAMPS,260.865,170.595,583.695,48.960,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2486.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.836,0.000,0.000,0.000
$MEM,204084
$DATA_FILE_SIZE,10164,273
$CAP_FILE_SIZE,53284,0
$CFSIZE,260034560,247099392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,265.4,1
$GPS,180714,053451,4725.971,-12222.794,13,2.1,33,18.1