version: 66.12
glider: 124
mission: 17
dive: 115
start: 7 18 114 8 52 49
data:
$ID,124
$MISSION,17
$DIVE,115
$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,-307996.94
$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,29
$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
$GPS1,180714,084607,4725.649,-12222.184,9,1.8,9,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-66.7
$GPS2,180714,085145,4725.725,-12222.258,12,2.4,32,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.163,-0.257
$KALMAN_X,-10313.8,-182.5,-65.7,9033.4,-146.8
$KALMAN_Y,11907.8,179.4,-61.5,-9831.4,275.2
$MHEAD_RNG_PITCHd_Wd,127.7,681,-25.0,-16.667,-28.75,1541
$D_GRID,172
$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,-180.8,94,1912,1531,1753,0.0,0.0,0,94,0.00,0.00,-70.68,0.000,16386,0.000,0.000,94,1912,2810,2820,2800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.69,-180.8,94,1912,2820,2801,3.1,-1.6,7,137,8.48,0.00,-27.00,0.000,18438,0.255,0.000,2036,1875,3600,3664,3537,0,0,0,0,0,0,25.34,28.83,26.55
$GC,316,-1.57,-180.8,2036,1875,3665,3538,49.1,-23.3,29,318,0.12,0.00,0.00,0.000,2054,0.201,0.000,2066,1875,3601,3665,3538,0,0,0,0,0,0,26.01,28.83,28.83
$GC,496,-1.57,-180.8,2066,1875,3665,3538,84.6,-19.1,47,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,1875,3601,3664,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,676,-1.57,-180.8,2066,1875,3664,3538,116.6,-18.0,65,682,0.00,2.28,0.00,0.000,260,0.000,0.056,2066,3321,3601,3664,3538,0,0,0,0,0,0,28.83,26.12,28.83
$GC,736,-1.57,-180.8,2066,3320,3664,3538,127.3,-17.3,76,743,0.00,2.25,0.00,0.000,1030,0.000,0.048,2066,1919,3601,3665,3538,0,0,0,0,0,0,28.83,26.22,28.83
$GC,922,-1.57,-180.8,2066,1918,3664,3538,158.2,-16.6,95,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,1918,3601,3664,3538,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1009,begin apogee
$GC,1017,-0.47,0.0,2066,2002,3663,3538,173.4,-17.0,104,1168,0.75,0.00,143.98,0.581,10246,0.141,0.000,2302,2002,2860,2756,2964,0,0,0,0,0,0,25.70,28.83,24.46
$STATE,1170,end apogee,CONTROL_FINISHED_OK
$STATE,1170,begin climb
$GC,1173,1.69,180.8,2301,2002,2753,2962,182.5,0.0,119,1328,1.42,0.00,147.15,0.556,10758,0.090,0.000,2778,2002,2123,1940,2306,0,0,0,0,0,0,25.23,28.83,24.34
$GC,1507,1.71,198.3,2777,2002,1940,2293,143.1,15.5,155,1528,0.00,2.25,14.68,0.516,8452,0.000,0.052,2777,3401,2049,1873,2225,0,0,0,0,0,0,28.83,25.66,24.79
$GC,1567,1.72,206.6,2778,3402,1876,2223,133.9,16.1,166,1584,0.00,2.30,8.25,0.490,9222,0.000,0.047,2788,1987,2015,1843,2188,0,0,0,0,0,0,28.83,25.76,24.76
$GC,1763,1.73,219.9,2787,1987,1844,2185,102.7,15.8,187,1784,0.00,2.28,12.10,0.506,8708,0.000,0.057,2798,596,1962,1793,2132,0,0,0,0,0,0,28.83,25.86,24.96
$GC,1808,1.73,219.9,2798,596,1794,2132,95.0,17.0,195,1814,0.00,2.25,0.00,0.000,1030,0.000,0.044,2798,2001,1963,1794,2132,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2003,1.74,223.0,2798,2001,1794,2129,61.4,16.5,215,2008,0.00,2.22,0.00,0.000,260,0.000,0.054,2798,3414,1961,1794,2129,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2047,1.78,261.5,2797,3414,1795,2126,54.8,14.1,223,2089,0.00,2.28,35.33,0.503,9222,0.000,0.045,2808,1987,1793,1626,1960,0,0,0,0,0,0,28.83,26.08,24.85
$GC,2269,1.88,279.5,2808,1987,1628,1959,20.1,15.5,249,2285,0.00,2.22,11.48,0.443,8708,0.000,0.056,2817,593,1718,1559,1878,0,0,0,0,0,0,28.83,25.91,25.01
$GC,2329,1.97,283.7,2817,593,1559,1875,10.5,16.4,260,2336,0.00,2.28,1.33,0.063,9222,0.000,0.044,2817,2007,1705,1547,1863,0,0,0,0,0,0,28.83,25.98,25.91
$STATE,2372,end climb,SURFACE_DEPTH_REACHED
$STATE,2372,begin surface coast
$FINISH,0.9,1.012131
$STATE,2383,end surface coast,CONTROL_FINISHED_OK
$STATE,2383,begin surface
$SM_CCo,2407,6.47,0.050,0,0,1639,300.00
$SM_GC,3.18,7.38,0.20,6.47,0.047,0.072,0.050,93,1914,1639,-10.59,0.79,300.00,0,0,0,0,0,0,25.92,26.14,26.01
$IRIDIUM_FIX,4707.04,-12221.20,200921,183357
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.10
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.40
$XPDR_PINGS,9
$SC_FREEKB,3975584
$24V_AH,24.34,8.044
$10V_AH,9.27,4.788
$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,18.150,22.975,374.275,6.475,0.000,0.000,0.000,153.975,4.500,0.000,33.719,591.562,927.272,436.925,604.976,207.108,33.280,871.505,0.000,413.464,0.000,18.963,0.000
$DEVICE_MAMPS,254.745,76.500,580.635,49.725,0.000,0.000,0.000,120.105,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2391.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.285,0.000,0.000,0.000
$MEM,203728
$DATA_FILE_SIZE,6798,266
$CAP_FILE_SIZE,52556,0
$CFSIZE,260034560,246931456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2881.31,0x239dd2,7,5
$CURRENT,0.111,326.0,1
$GPS,180714,093421,4725.540,-12222.101,13,2.2,33,18.1