version: 66.12
glider: 124
mission: 17
dive: 144
start: 7 19 114 8 19 50
data:
$ID,124
$MISSION,17
$DIVE,144
$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,-309234.5
$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,30
$R_STBD_OVSHOOT,26
$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
$GPS1,190714,081227,4726.391,-12222.999,15,5.2,35,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-68.1
$GPS2,190714,081845,4726.447,-12223.073,14,5.0,34,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.207,-0.222
$KALMAN_X,-12992.4,-49.1,25.4,10463.5,-396.4
$KALMAN_Y,13837.8,116.4,-14.2,-10408.4,308.6
$MHEAD_RNG_PITCHd_Wd,117.0,1046,-25.0,-16.667,-28.75,1541
$D_GRID,199
$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,-180.8,91,1916,1535,1743,0.0,0.0,0,102,0.00,0.00,-79.68,0.000,16386,0.000,0.000,91,1916,2969,3013,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,91,1916,3013,2926,3.7,-2.4,8,138,8.65,2.25,-15.40,0.000,18948,0.261,0.069,2041,503,3601,3677,3525,0,0,0,0,0,0,25.26,25.99,26.56
$GC,259,-1.53,-180.8,2041,503,3677,3526,43.6,-23.2,36,266,0.15,2.28,0.00,0.000,3078,0.184,0.047,2078,1932,3602,3678,3526,0,0,0,0,0,0,25.72,26.08,28.83
$GC,454,-1.53,-180.8,2078,1933,3677,3526,79.5,-18.7,56,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,1932,3601,3677,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,635,-1.53,-180.8,2076,1932,3676,3526,109.5,-16.8,74,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,1933,3601,3677,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,815,-1.53,-180.8,2078,1933,3676,3526,140.6,-17.6,92,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,1933,3601,3677,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1005,-1.53,-180.8,2077,1933,3676,3526,171.8,-17.5,111,1011,0.00,2.17,0.00,0.000,260,0.000,0.056,2078,3326,3601,3676,3526,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1070,-1.53,-180.8,2078,3326,3676,3526,183.8,-20.0,123,1075,0.00,2.25,0.00,0.000,1030,0.000,0.047,2078,1913,3601,3676,3526,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,1151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1151,begin apogee
$GC,1159,-0.47,0.0,2078,2007,3676,3526,199.7,-16.1,132,1315,0.73,0.00,145.07,0.591,10246,0.138,0.000,2307,2008,2857,2769,2946,0,0,0,0,0,0,25.72,28.83,24.44
$STATE,1317,end apogee,CONTROL_FINISHED_OK
$STATE,1317,begin climb
$GC,1320,1.69,180.8,2307,2007,2769,2946,201.4,0.0,148,1482,1.40,2.42,146.62,0.564,10756,0.089,0.054,2785,584,2119,1954,2284,0,0,0,0,0,0,25.26,25.08,24.34
$GC,1510,1.69,183.0,2785,583,1954,2282,172.2,16.5,183,1517,0.00,2.33,0.00,0.000,1030,0.000,0.044,2785,2004,2117,1954,2280,0,0,0,0,0,0,28.83,25.40,28.83
$GC,1697,1.69,183.0,2785,2004,1954,2275,138.0,19.1,202,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2004,2114,1954,2274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1887,1.72,206.6,2786,2004,1954,2272,107.2,15.1,221,1915,0.00,0.00,20.62,0.514,8454,0.000,0.000,2785,2004,2016,1859,2173,0,0,0,0,0,0,28.83,28.83,25.02
$GC,2097,1.82,236.2,2785,2004,1859,2172,73.4,14.7,244,2129,0.00,2.33,25.50,0.504,8452,0.000,0.055,2785,3411,1896,1739,2054,0,0,0,0,0,0,28.83,25.85,25.02
$GC,2187,1.89,236.2,2785,3411,1740,2053,59.7,17.7,260,2193,0.10,2.30,0.00,0.000,3078,0.100,0.047,2839,1985,1896,1740,2053,0,0,0,0,0,0,25.92,25.92,28.83
$GC,2382,1.89,239.0,2839,1985,1740,2052,23.3,16.5,280,2389,0.00,2.20,1.05,0.089,8708,0.000,0.054,2850,596,1887,1732,2043,0,0,0,0,0,0,28.83,26.01,25.82
$GC,2448,1.94,281.0,2850,597,1736,2043,13.9,13.9,292,2474,0.00,2.22,18.10,0.069,9222,0.000,0.044,2850,2000,1716,1562,1871,0,0,0,0,0,0,28.83,26.12,26.00
$STATE,2529,end climb,SURFACE_DEPTH_REACHED
$STATE,2529,begin surface coast
$FINISH,0.9,1.021346
$STATE,2543,end surface coast,CONTROL_FINISHED_OK
$STATE,2543,begin surface
$SM_CCo,2564,7.57,0.049,0,0,1639,300.00
$SM_GC,2.87,7.45,0.17,7.57,0.047,0.084,0.049,88,1922,1639,-10.61,1.07,300.00,0,0,0,0,0,0,26.03,26.27,26.12
$IRIDIUM_FIX,4703.87,-12216.82,210921,175449
$TT8_MAMPS,0.029211,0.029211
$HUMID,65.71
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,9
$SC_FREEKB,3964448
$24V_AH,24.34,9.877
$10V_AH,9.57,5.877
$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,18.475,23.125,356.975,7.575,0.000,0.000,0.000,189.225,4.250,0.000,35.419,640.909,998.850,412.974,694.345,218.909,33.280,920.487,0.000,470.578,0.000,13.685,0.000
$DEVICE_MAMPS,260.865,84.150,590.580,48.960,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2553.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.237,0.000,0.000,0.000
$MEM,203756
$DATA_FILE_SIZE,10146,304
$CAP_FILE_SIZE,55093,0
$CFSIZE,260034560,245878784
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3223.26,0x239dd2,7,5
$INTR,1,122.77,0x2369a0,0,24
$INTR,2,1343.09,0x23699e,1,24
$CURRENT,0.192,314.5,1
$GPS,190714,090423,4726.342,-12222.989,39,1.1,56,18.1