version: 66.12
glider: 124
mission: 17
dive: 127
start: 7 18 114 18 52 18
data:
$ID,124
$MISSION,17
$DIVE,127
$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,-309213.25
$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,32
$R_STBD_OVSHOOT,30
$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
$GPS1,180714,184505,4726.544,-12222.708,41,1.5,46,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-67.7
$GPS2,180714,185113,4726.551,-12222.806,17,1.5,17,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.146,-0.267
$KALMAN_X,-11383.2,-84.8,8.5,9249.0,-204.2
$KALMAN_Y,12313.1,25.1,-204.5,-8412.2,11.4
$MHEAD_RNG_PITCHd_Wd,118.0,1152,-25.0,-16.667,-28.75,1541
$D_GRID,133
$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,17,begin dive
$GC,20,-1.69,-180.8,89,1920,1528,1750,0.0,0.0,0,93,0.00,0.00,-70.00,0.000,16386,0.000,0.000,90,1920,2796,2811,2781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.69,-180.8,90,1920,2811,2782,3.0,-1.7,7,140,8.62,2.38,-25.15,0.000,18692,0.260,0.071,2040,3320,3602,3669,3535,0,0,0,0,0,0,25.29,25.95,26.55
$GC,370,-1.69,-180.8,2040,3320,3669,3536,64.8,-21.4,60,377,0.00,2.25,0.00,0.000,1030,0.000,0.047,2040,1925,3602,3669,3536,0,0,0,0,0,0,28.83,26.13,28.83
$GC,556,-1.69,-180.8,2040,1924,3668,3536,101.5,-20.8,79,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1924,3602,3669,3536,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,724,begin apogee
$GC,732,-0.47,0.0,2040,2006,3667,3536,134.8,-18.9,96,882,0.85,0.00,142.32,0.556,10246,0.146,0.000,2302,2006,2861,2759,2964,0,0,0,0,0,0,25.63,28.83,24.51
$STATE,884,end apogee,CONTROL_FINISHED_OK
$STATE,884,begin climb
$GC,887,1.69,180.8,2302,2006,2758,2960,144.9,0.0,111,1042,1.42,2.30,144.77,0.534,10500,0.090,0.050,2779,3405,2120,1942,2299,0,0,0,0,0,0,25.25,25.10,24.39
$GC,1080,1.69,180.8,2779,3405,1945,2294,124.2,17.8,148,1086,0.00,2.33,0.00,0.000,1030,0.000,0.046,2787,1997,2119,1945,2294,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1267,1.70,189.0,2786,1997,1946,2291,93.8,16.1,167,1283,0.00,2.30,7.20,0.461,8708,0.000,0.056,2797,594,2088,1917,2260,0,0,0,0,0,0,28.83,25.81,24.89
$GC,1328,1.71,200.9,2797,594,1917,2259,84.5,15.9,178,1345,0.00,2.25,10.55,0.483,9222,0.000,0.044,2798,1993,2041,1869,2213,0,0,0,0,0,0,28.83,25.91,24.89
$GC,1524,1.76,243.9,2797,1993,1869,2208,57.7,13.8,199,1565,0.00,2.35,35.85,0.498,8452,0.000,0.054,2798,3413,1864,1691,2038,0,0,0,0,0,0,28.83,25.72,24.96
$GC,1602,1.77,249.7,2798,3413,1696,2037,46.6,16.3,213,1615,0.00,2.30,6.57,0.446,9222,0.000,0.044,2807,1987,1840,1669,2012,0,0,0,0,0,0,28.83,25.82,24.88
$GC,1794,1.92,297.1,2807,1987,1672,2011,17.5,13.5,233,1821,0.00,2.22,20.15,0.079,8708,0.000,0.054,2815,589,1650,1482,1819,0,0,0,0,0,0,28.83,25.91,25.85
$GC,1851,2.03,317.3,2815,590,1491,1819,9.1,15.3,243,1868,0.12,2.25,8.90,0.058,11270,0.089,0.043,2870,2005,1568,1398,1739,0,0,0,0,0,0,26.01,26.03,25.96
$STATE,1884,end climb,SURFACE_DEPTH_REACHED
$STATE,1884,begin surface coast
$FINISH,1.0,1.021675
$STATE,1895,end surface coast,CONTROL_FINISHED_OK
$STATE,1895,begin surface
$SM_CCo,1978,0.00,0.000,0,0,1572,316.44
$SM_GC,1.92,7.50,0.20,0.00,0.047,0.070,0.000,96,1915,1572,-10.58,0.74,316.44,0,0,0,0,0,0,25.91,26.17,28.83
$IRIDIUM_FIX,4707.04,-12227.30,210921,043259
$TT8_MAMPS,0.028462,0.028462
$HUMID,64.88
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.60
$XPDR_PINGS,13
$SC_FREEKB,3970976
$24V_AH,24.39,8.794
$10V_AH,9.68,5.257
$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,18.525,23.300,376.325,0.000,0.000,0.000,0.000,198.400,4.250,0.000,18.394,488.929,667.521,406.365,581.754,214.662,33.286,885.853,0.000,383.669,0.000,9.962,0.000
$DEVICE_MAMPS,260.100,75.735,556.155,0.000,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1904.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,25.450,0.000,0.000,0.000
$MEM,204040
$DATA_FILE_SIZE,6820,249
$CAP_FILE_SIZE,45173,0
$CFSIZE,260034560,246505472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2905.44,0x239dd2,7,5
$CURRENT,0.254,270.3,1
$GPS,180714,192613,4726.342,-12222.984,16,2.0,16,18.1