version: 66.12
glider: 124
mission: 17
dive: 112
start: 7 18 114 6 29 16
data:
$ID,124
$MISSION,17
$DIVE,112
$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,-307993.19
$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,31
$R_STBD_OVSHOOT,32
$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
$GPS1,180714,062224,4725.893,-12222.328,11,1.2,28,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-68.0
$GPS2,180714,062812,4725.961,-12222.319,15,1.7,32,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.167,-0.253
$KALMAN_X,-9802.1,-107.0,30.7,8265.5,-93.2
$KALMAN_Y,11006.3,172.9,-284.1,-8268.9,21.9
$MHEAD_RNG_PITCHd_Wd,141.3,1096,-25.0,-16.667,-28.75,1541
$D_GRID,168
$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,-180.8,92,1918,1531,1747,0.0,0.0,0,103,0.00,0.00,-80.12,0.000,16386,0.000,0.000,92,1918,2947,2978,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,92,1918,2978,2918,3.4,-2.1,8,142,8.57,2.40,-18.02,0.000,18692,0.259,0.073,2036,3320,3601,3665,3537,0,0,0,0,0,0,25.32,25.63,26.56
$GC,251,-1.60,-180.8,2035,3320,3665,3538,33.8,-18.9,35,258,0.10,2.25,0.00,0.000,3078,0.190,0.047,2060,1919,3601,3665,3538,0,0,0,0,0,0,25.86,26.09,28.83
$GC,438,-1.60,-180.8,2059,1919,3665,3538,69.5,-20.5,54,443,0.00,2.22,0.00,0.000,516,0.000,0.057,2060,503,3601,3664,3538,0,0,0,0,0,0,28.83,26.07,28.83
$GC,512,-1.60,-180.8,2059,503,3664,3538,85.5,-20.4,68,518,0.00,2.25,0.00,0.000,1030,0.000,0.046,2060,1916,3600,3663,3538,0,0,0,0,0,0,28.83,26.18,28.83
$GC,707,-1.60,-180.8,2059,1916,3664,3538,121.0,-18.5,88,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,1916,3600,3663,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,896,-1.60,-180.8,2060,1916,3663,3538,154.8,-18.0,107,902,0.00,2.22,0.00,0.000,260,0.000,0.057,2060,3336,3601,3663,3539,0,0,0,0,0,0,28.83,26.15,28.83
$GC,935,-1.60,-180.8,2060,3335,3663,3538,161.4,-17.1,114,941,0.00,2.28,0.00,0.000,1030,0.000,0.048,2060,1914,3600,3663,3538,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,977,begin apogee
$GC,986,-0.47,0.0,2060,2008,3663,3538,169.3,-17.2,119,1136,0.77,0.00,143.65,0.592,10246,0.140,0.000,2303,2008,2860,2756,2964,0,0,0,0,0,0,25.69,28.83,24.44
$STATE,1138,end apogee,CONTROL_FINISHED_OK
$STATE,1138,begin climb
$GC,1141,1.69,180.8,2303,2008,2753,2962,178.3,0.0,134,1304,1.42,2.38,146.77,0.574,10500,0.090,0.054,2779,3410,2120,1941,2299,0,0,0,0,0,0,25.22,25.05,24.34
$GC,1352,1.69,181.1,2779,3410,1943,2293,156.8,16.7,167,1358,0.00,2.35,0.00,0.000,1030,0.000,0.047,2789,1984,2118,1944,2293,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1538,1.70,195.7,2789,1984,1944,2290,126.3,15.7,186,1556,0.00,0.00,12.48,0.521,8198,0.000,0.000,2789,1984,2060,1888,2232,0,0,0,0,0,0,28.83,28.83,24.89
$GC,1738,1.72,205.8,2788,1984,1889,2231,92.4,16.0,206,1750,0.00,0.00,9.62,0.500,8198,0.000,0.000,2789,1984,2020,1850,2191,0,0,0,0,0,0,28.83,28.83,25.00
$GC,1929,1.75,232.1,2789,1984,1850,2186,62.7,14.9,225,1961,0.00,2.40,23.05,0.518,8452,0.000,0.054,2789,3410,1912,1744,2081,0,0,0,0,0,0,28.83,25.88,25.06
$GC,2007,1.75,232.1,2789,3410,1747,2079,51.4,16.8,239,2013,0.00,2.30,0.00,0.000,1030,0.000,0.047,2798,1999,1913,1747,2079,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2202,1.81,232.5,2798,1999,1747,2076,20.1,16.6,259,2207,0.00,2.22,0.00,0.000,516,0.000,0.057,2806,585,1911,1746,2077,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2284,1.94,261.1,2806,585,1747,2075,6.5,14.8,274,2302,0.10,2.25,11.52,0.052,11270,0.103,0.044,2850,2005,1796,1632,1961,0,0,0,0,0,0,26.13,26.15,26.10
$STATE,2307,end climb,SURFACE_DEPTH_REACHED
$STATE,2307,begin surface coast
$FINISH,0.9,1.010194
$STATE,2331,end surface coast,CONTROL_FINISHED_OK
$STATE,2331,begin surface
$SM_CCo,2352,15.75,0.049,0,0,1639,300.00
$SM_GC,2.10,7.45,0.20,15.75,0.047,0.073,0.049,89,1912,1639,-10.61,0.74,300.00,0,0,0,0,0,0,26.06,26.27,26.12
$IRIDIUM_FIX,4710.21,-12224.61,200921,161102
$TT8_MAMPS,0.029211,0.029211
$HUMID,65.59
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.40
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,151.2,37.5
$SC_FREEKB,3976736
$24V_AH,24.34,7.856
$10V_AH,9.81,4.678
$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,18.425,27.925,347.100,15.750,0.000,0.000,0.000,164.075,4.500,0.000,33.447,602.729,851.792,431.975,632.197,213.468,33.276,891.636,0.000,435.374,0.000,13.096,0.000
$DEVICE_MAMPS,259.335,73.440,592.110,48.960,0.000,0.000,0.000,117.810,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2339.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.253,0.000,0.000,0.000
$MEM,203736
$DATA_FILE_SIZE,10148,280
$CAP_FILE_SIZE,52675,0
$CFSIZE,260034560,247033856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2857.44,0x239dd2,7,5
$CURRENT,0.158,332.8,1
$GPS,180714,070943,4725.832,-12222.302,14,2.0,14,18.1