version: 66.12
glider: 124
mission: 17
dive: 159
start: 7 19 114 20 0 56
data:
$ID,124
$MISSION,17
$DIVE,159
$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,-309253.25
$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,29
$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
$GPS1,190714,195200,4725.963,-12222.677,10,1.8,28,18.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-62.9
$GPS2,190714,195949,4725.930,-12222.632,12,1.3,12,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.252,-0.170
$KALMAN_X,-13988.9,-3.0,198.5,11791.2,-286.7
$KALMAN_Y,15050.6,115.3,-97.6,-12487.4,104.4
$MHEAD_RNG_PITCHd_Wd,103.2,1275,-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,-180.8,94,1916,1537,1738,0.0,0.0,0,103,0.00,0.00,-80.10,0.000,16386,0.000,0.000,94,1916,2971,3016,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,94,1916,3016,2926,3.6,-2.4,8,141,8.65,2.33,-15.95,0.000,18692,0.261,0.068,2036,3322,3600,3671,3530,0,0,0,0,0,0,25.25,25.52,26.53
$GC,371,-1.61,-180.8,2036,3322,3671,3533,61.9,-21.9,59,378,0.10,2.25,0.00,0.000,3078,0.185,0.047,2060,1916,3602,3671,3533,0,0,0,0,0,0,25.89,26.13,28.83
$GC,558,-1.61,-180.8,2060,1916,3671,3533,94.7,-16.2,78,563,0.00,2.28,0.00,0.000,260,0.000,0.054,2060,3326,3602,3671,3533,0,0,0,0,0,0,28.83,26.08,28.83
$GC,689,-1.61,-180.8,2060,3325,3671,3533,118.6,-18.8,103,695,0.00,2.25,0.00,0.000,1030,0.000,0.045,2061,1913,3602,3671,3533,0,0,0,0,0,0,28.83,26.22,28.83
$GC,875,-1.61,-180.8,2060,1913,3670,3533,152.6,-18.4,122,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,1913,3602,3671,3533,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,992,begin apogee
$GC,1001,-0.47,0.0,2060,2008,3670,3533,173.5,-17.0,134,1149,0.77,0.00,142.00,0.579,10246,0.138,0.000,2305,2008,2860,2770,2951,0,0,0,0,0,0,25.68,28.83,24.46
$STATE,1151,end apogee,CONTROL_FINISHED_OK
$STATE,1151,begin climb
$GC,1154,1.69,180.8,2305,2008,2767,2950,182.5,0.0,149,1313,1.40,2.40,146.43,0.557,10756,0.086,0.052,2786,590,2122,1952,2292,0,0,0,0,0,0,25.26,25.08,24.34
$GC,1338,1.72,210.1,2786,590,1951,2290,166.5,14.7,183,1369,0.00,2.30,24.65,0.536,9222,0.000,0.042,2786,1999,2002,1830,2175,0,0,0,0,0,0,28.83,25.39,24.44
$GC,1548,1.72,210.1,2786,1999,1830,2171,132.1,16.9,207,1553,0.00,2.25,0.00,0.000,260,0.000,0.053,2786,3417,2000,1830,2171,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1607,1.72,210.1,2786,3417,1833,2166,121.2,18.1,218,1615,0.00,2.30,0.00,0.000,1030,0.000,0.044,2796,1985,1998,1831,2166,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1794,1.74,229.6,2796,1985,1833,2165,90.3,15.4,237,1813,0.00,0.00,16.95,0.514,8454,0.000,0.000,2796,1985,1923,1757,2090,0,0,0,0,0,0,28.83,28.83,25.04
$GC,1993,1.74,229.6,2795,1985,1757,2086,55.3,17.7,258,1999,0.00,2.30,0.00,0.000,260,0.000,0.052,2796,3414,1922,1758,2086,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2038,1.77,253.2,2796,3415,1758,2084,48.3,15.1,266,2066,0.00,2.25,20.52,0.505,9222,0.000,0.045,2803,2006,1826,1664,1988,0,0,0,0,0,0,28.83,26.10,25.06
$GC,2256,1.90,281.8,2803,2006,1665,1987,13.5,14.8,290,2273,0.00,0.00,11.65,0.069,8198,0.000,0.000,2803,2006,1713,1557,1870,0,0,0,0,0,0,28.83,28.83,25.98
$STATE,2332,end climb,SURFACE_DEPTH_REACHED
$STATE,2332,begin surface coast
$FINISH,0.8,1.020919
$STATE,2356,end surface coast,CONTROL_FINISHED_OK
$STATE,2356,begin surface
$SM_CCo,2377,7.28,0.048,0,0,1638,300.00
$SM_GC,2.87,7.25,0.12,7.28,0.044,0.090,0.048,89,1896,1638,-10.59,0.93,300.00,0,0,0,0,0,0,26.13,26.34,26.13
$IRIDIUM_FIX,4713.38,-12223.63,220921,053809
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.19
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.50
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,150.8,39.5
$SC_FREEKB,3958688
$24V_AH,24.34,10.825
$10V_AH,9.41,6.411
$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,18.175,23.225,362.200,7.275,0.000,0.000,0.000,241.625,5.750,0.000,13.365,618.538,907.940,412.551,720.663,212.670,33.280,964.913,0.000,462.290,0.000,16.039,0.000
$DEVICE_MAMPS,260.865,89.505,579.105,48.195,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2365.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.456,0.000,0.000,0.000
$MEM,203672
$DATA_FILE_SIZE,10141,300
$CAP_FILE_SIZE,52399,0
$CFSIZE,260034560,245354496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3104.14,0x239dd2,7,5
$CURRENT,0.059, 75.7,1
$GPS,190714,204137,4725.726,-12222.132,11,1.2,11,18.1