version: 66.12
glider: 124
mission: 17
dive: 111
start: 7 18 114 5 41 38
data:
$ID,124
$MISSION,17
$DIVE,111
$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,-307991.94
$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,35
$R_STBD_OVSHOOT,28
$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
$GPS1,180714,053451,4725.971,-12222.794,13,2.1,33,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-67.8
$GPS2,180714,054033,4725.958,-12222.785,12,2.1,32,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.266,-0.146
$KALMAN_X,-9871.1,-79.7,71.9,7686.6,-157.1
$KALMAN_Y,10718.0,183.4,-263.3,-8009.8,-59.7
$MHEAD_RNG_PITCHd_Wd,98.0,1448,-25.0,-16.667,-28.75,1541
$D_GRID,174
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-1.69,-180.8,94,1908,1532,1745,0.0,0.0,0,102,0.00,0.00,-79.72,0.000,16386,0.000,0.000,94,1908,2941,2970,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,94,1908,2969,2914,3.4,-2.0,8,141,8.60,2.42,-18.23,0.000,18692,0.260,0.074,2038,3336,3600,3664,3537,0,0,0,0,0,0,25.32,25.72,26.60
$GC,371,-1.69,-180.8,2037,3335,3664,3538,61.3,-20.6,59,377,0.00,2.28,0.00,0.000,1030,0.000,0.048,2038,1919,3601,3664,3538,0,0,0,0,0,0,28.83,26.14,28.83
$GC,557,-1.69,-180.8,2038,1918,3663,3538,97.8,-18.3,78,563,0.00,2.22,0.00,0.000,516,0.000,0.057,2038,502,3600,3663,3538,0,0,0,0,0,0,28.83,26.10,28.83
$GC,645,-1.61,-180.8,2038,502,3662,3538,114.2,-20.5,94,651,0.00,2.25,0.00,0.000,1030,0.000,0.047,2038,1919,3600,3662,3538,0,0,0,0,0,0,28.83,26.21,28.83
$GC,840,-1.61,-180.8,2038,1919,3662,3538,151.2,-19.3,114,845,0.00,2.22,0.00,0.000,260,0.000,0.057,2038,3337,3600,3662,3538,0,0,0,0,0,0,28.83,26.13,28.83
$GC,885,-1.61,-180.8,2039,3337,3662,3538,159.5,-18.2,122,890,0.00,2.28,0.00,0.000,1030,0.000,0.048,2038,1914,3600,3662,3538,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,966,begin apogee
$GC,974,-0.47,0.0,2038,2008,3662,3538,175.7,-19.2,131,1130,0.85,0.00,144.05,0.591,10246,0.142,0.000,2303,2008,2859,2754,2964,0,0,0,0,0,0,25.65,28.83,24.46
$STATE,1131,end apogee,CONTROL_FINISHED_OK
$STATE,1132,begin climb
$GC,1135,1.69,180.8,2302,2008,2752,2963,185.0,0.0,147,1292,1.38,2.33,146.30,0.565,10500,0.077,0.052,2775,3412,2119,1940,2299,0,0,0,0,0,0,25.27,25.06,24.35
$GC,1342,1.69,183.4,2775,3412,1942,2293,164.5,16.5,183,1349,0.00,2.35,0.00,0.000,1030,0.000,0.046,2786,1984,2118,1943,2293,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1529,1.71,203.2,2785,1984,1942,2290,134.6,15.4,202,1549,0.00,0.00,18.50,0.526,8198,0.000,0.000,2786,1984,2032,1858,2206,0,0,0,0,0,0,28.83,28.83,24.87
$GC,1729,1.77,250.3,2785,1984,1858,2201,105.2,13.5,222,1774,0.00,2.35,40.10,0.530,8452,0.000,0.051,2786,3405,1838,1667,2009,0,0,0,0,0,0,28.83,25.63,24.87
$GC,1828,1.77,250.3,2785,3404,1670,2006,88.9,19.6,241,1835,0.00,2.30,0.00,0.000,1030,0.000,0.047,2795,1989,1838,1671,2006,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2014,1.78,260.7,2795,1988,1671,2005,57.0,16.0,260,2026,0.00,0.00,9.73,0.475,8198,0.000,0.000,2795,1988,1798,1632,1964,0,0,0,0,0,0,28.83,28.83,25.04
$GC,2205,1.91,277.1,2795,1988,1632,1960,24.9,15.6,279,2223,0.10,0.00,9.90,0.451,10502,0.103,0.000,2841,1988,1728,1572,1885,0,0,0,0,0,0,26.29,28.83,25.10
$STATE,2334,end climb,SURFACE_DEPTH_REACHED
$STATE,2334,begin surface coast
$FINISH,0.9,1.021815
$STATE,2342,end surface coast,CONTROL_FINISHED_OK
$STATE,2343,begin surface
$SM_CCo,2364,8.57,0.049,0,0,1638,300.00
$SM_GC,2.98,7.40,0.10,8.57,0.046,0.111,0.049,92,1919,1638,-10.59,0.96,300.00,0,0,0,0,0,0,26.03,26.28,26.08
$IRIDIUM_FIX,4710.21,-12224.61,200921,152040
$TT8_MAMPS,0.029211,0.029211
$HUMID,65.90
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.40
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,141.6,48.6
$SC_FREEKB,3977120
$24V_AH,24.35,7.795
$10V_AH,9.84,4.642
$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,18.325,23.300,368.575,8.575,0.000,0.000,0.000,158.200,3.750,0.000,33.596,610.094,838.724,426.557,644.103,212.270,33.282,889.597,0.000,457.629,0.000,8.720,0.000
$DEVICE_MAMPS,260.100,110.925,591.345,48.960,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2352.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.259,0.000,0.000,0.000
$MEM,203728
$DATA_FILE_SIZE,10127,294
$CAP_FILE_SIZE,50674,0
$CFSIZE,260034560,247070720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3000.55,0x239dd2,7,5
$CURRENT,0.068,359.6,1
$GPS,180714,062224,4725.893,-12222.328,11,1.2,28,18.1