version: 66.12
glider: 124
mission: 17
dive: 128
start: 7 18 114 19 33 10
data:
$ID,124
$MISSION,17
$DIVE,128
$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,-309214.5
$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,27
$R_STBD_OVSHOOT,29
$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
$GPS1,180714,192613,4726.342,-12222.984,16,2.0,16,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-67.0
$GPS2,180714,193206,4726.299,-12223.036,15,2.0,20,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.256,-0.164
$KALMAN_X,-11749.9,-130.4,-55.3,9434.5,-391.2
$KALMAN_Y,12304.2,10.0,-209.8,-8844.6,0.7
$MHEAD_RNG_PITCHd_Wd,93.1,779,-25.0,-16.667,-28.75,1541
$D_GRID,195
$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,-180.8,95,1913,1440,1700,0.0,0.0,0,103,0.00,0.00,-80.38,0.000,16386,0.000,0.000,96,1914,2912,2939,2886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,95,1914,2939,2887,3.3,-2.0,8,142,8.68,2.40,-18.85,0.000,18692,0.262,0.070,2040,3327,3601,3668,3534,0,0,0,0,0,0,25.27,25.96,26.55
$GC,372,-1.69,-180.8,2040,3330,3668,3536,61.2,-21.3,59,378,0.00,2.25,0.00,0.000,1030,0.000,0.046,2041,1919,3602,3668,3536,0,0,0,0,0,0,28.83,26.15,28.83
$GC,559,-1.63,-180.8,2040,1919,3668,3536,99.8,-21.7,78,564,0.00,2.28,0.00,0.000,260,0.000,0.055,2041,3329,3601,3667,3536,0,0,0,0,0,0,28.83,26.10,28.83
$GC,700,-1.63,-180.8,2041,3329,3667,3536,125.8,-19.2,105,707,0.00,2.25,0.00,0.000,1030,0.000,0.047,2041,1918,3601,3667,3536,0,0,0,0,0,0,28.83,26.22,28.83
$GC,886,-1.63,-180.8,2040,1918,3667,3536,159.6,-18.4,124,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1918,3601,3667,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1067,-1.63,-180.8,2041,1917,3667,3536,194.2,-20.9,142,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1917,3601,3666,3536,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1083,begin apogee
$GC,1091,-0.47,0.0,2041,2009,3666,3534,198.4,-21.0,144,1247,0.85,0.00,143.98,0.598,10246,0.147,0.000,2304,2009,2858,2753,2964,0,0,0,0,0,0,25.65,28.83,24.42
$STATE,1248,end apogee,CONTROL_FINISHED_OK
$STATE,1248,begin climb
$GC,1252,1.69,180.8,2303,2009,2753,2963,210.2,0.0,160,1410,1.35,2.38,146.10,0.575,10500,0.070,0.054,2778,3411,2120,1937,2304,0,0,0,0,0,0,25.30,25.06,24.32
$GC,1444,1.74,222.9,2778,3412,1938,2301,194.1,13.9,195,1486,0.00,2.35,35.65,0.555,9222,0.000,0.045,2787,1985,1949,1762,2137,0,0,0,0,0,0,28.83,25.39,24.44
$GC,1665,1.74,222.9,2787,1985,1766,2131,159.6,16.9,221,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1985,1948,1766,2131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1845,1.74,222.9,2787,1985,1767,2129,129.1,16.8,239,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1985,1948,1767,2129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2025,1.74,222.9,2787,1985,1767,2126,98.7,17.5,257,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1985,1946,1767,2126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2205,1.78,262.8,2787,1985,1767,2124,69.3,14.0,275,2244,0.00,2.30,32.83,0.509,8708,0.000,0.057,2798,589,1786,1613,1960,0,0,0,0,0,0,28.83,25.93,25.14
$GC,2269,1.85,262.8,2797,590,1616,1961,57.9,18.9,285,2275,0.00,2.25,0.00,0.000,1030,0.000,0.044,2797,2004,1788,1616,1960,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2465,1.98,285.8,2798,2004,1618,1960,26.2,15.1,305,2487,0.12,2.30,15.93,0.468,10500,0.088,0.054,2856,3410,1693,1530,1856,0,0,0,0,0,0,26.31,26.00,25.15
$STATE,2581,end climb,SURFACE_DEPTH_REACHED
$STATE,2581,begin surface coast
$FINISH,0.9,1.021693
$STATE,2592,end surface coast,CONTROL_FINISHED_OK
$STATE,2592,begin surface
$SM_CCo,2615,4.85,0.049,0,0,1639,300.00
$SM_GC,3.06,7.50,2.45,4.85,0.049,0.047,0.049,91,1927,1639,-10.60,1.07,300.00,0,0,0,0,0,0,25.98,26.05,26.06
$IRIDIUM_FIX,4710.21,-12224.61,210921,052122
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.71
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.40
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,190.0,22.0
$SC_FREEKB,3970592
$24V_AH,24.32,8.861
$10V_AH,9.92,5.296
$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,18.500,23.400,374.475,4.850,0.000,0.000,0.000,181.725,5.250,0.000,21.215,680.116,955.808,423.358,714.150,216.699,33.279,934.810,0.000,506.355,0.000,22.335,0.000
$DEVICE_MAMPS,262.395,71.145,598.230,48.960,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2599.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.627,0.000,0.000,0.000
$MEM,203680
$DATA_FILE_SIZE,10117,329
$CAP_FILE_SIZE,54653,0
$CFSIZE,260034560,246460416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2451.41,0x239dd2,7,5
$CURRENT,0.059,290.4,1
$GPS,180714,201805,4726.186,-12222.756,29,1.9,29,18.1