version: 66.12
glider: 124
mission: 17
dive: 160
start: 7 19 114 20 48 40
data:
$ID,124
$MISSION,17
$DIVE,160
$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,-309254.5
$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,53
$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
$GPS1,190714,204137,4725.726,-12222.132,11,1.2,11,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-62.0
$GPS2,190714,204736,4725.762,-12222.048,13,1.2,30,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.134,-0.272
$KALMAN_X,-13717.9,14.3,51.2,12373.6,-138.1
$KALMAN_Y,15022.7,108.0,-17.5,-12847.4,7.7
$MHEAD_RNG_PITCHd_Wd,160.0,631,-25.0,-16.667,-28.75,1541
$D_GRID,171
$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,-180.8,88,1925,1534,1742,0.0,0.0,0,103,0.00,0.00,-79.82,0.000,16386,0.000,0.000,89,1925,2936,2976,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,88,1925,2976,2898,3.1,-1.8,8,142,8.60,2.38,-19.25,0.000,18692,0.259,0.072,2035,3323,3601,3670,3532,0,0,0,0,0,0,25.33,25.61,26.59
$GC,308,-1.61,-180.8,2035,3323,3671,3533,45.7,-20.9,46,314,0.10,2.20,0.00,0.000,3078,0.190,0.047,2059,1941,3602,3671,3534,0,0,0,0,0,0,25.90,26.14,28.83
$GC,503,-1.61,-180.8,2059,1941,3671,3534,87.1,-18.8,66,508,0.00,2.22,0.00,0.000,516,0.000,0.055,2060,514,3602,3671,3533,0,0,0,0,0,0,28.83,26.12,28.83
$GC,557,-1.61,-180.8,2059,514,3670,3534,97.5,-19.1,76,563,0.00,2.22,0.00,0.000,1030,0.000,0.045,2060,1918,3602,3670,3534,0,0,0,0,0,0,28.83,26.21,28.83
$GC,752,-1.61,-180.8,2059,1918,3669,3534,131.8,-16.6,96,757,0.00,2.22,0.00,0.000,260,0.000,0.057,2060,3340,3601,3669,3534,0,0,0,0,0,0,28.83,26.13,28.83
$GC,818,-1.61,-180.8,2059,3340,3670,3534,143.2,-17.7,108,824,0.00,2.25,0.00,0.000,1030,0.000,0.047,2060,1924,3601,3669,3534,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,969,begin apogee
$GC,978,-0.47,0.0,2059,2013,3669,3534,171.1,-17.6,124,1126,0.77,0.00,142.07,0.578,10246,0.141,0.000,2303,2013,2860,2771,2950,0,0,0,0,0,0,25.69,28.83,24.46
$STATE,1128,end apogee,CONTROL_FINISHED_OK
$STATE,1128,begin climb
$GC,1131,1.69,180.8,2303,2014,2768,2950,181.1,0.0,139,1287,1.42,0.00,146.93,0.553,10246,0.091,0.000,2779,2013,2122,1951,2293,0,0,0,0,0,0,25.27,28.83,24.35
$GC,1466,1.70,190.7,2779,2013,1951,2284,142.4,16.0,173,1482,0.00,2.30,8.65,0.492,8452,0.000,0.053,2780,3411,2081,1915,2247,0,0,0,0,0,0,28.83,25.75,24.77
$GC,1540,1.72,209.8,2779,3411,1915,2243,131.3,15.4,186,1562,0.00,2.30,16.95,0.519,9222,0.000,0.045,2789,1985,2006,1839,2174,0,0,0,0,0,0,28.83,25.85,24.79
$GC,1751,1.75,233.5,2789,1985,1837,2166,97.8,15.1,209,1778,0.00,2.35,20.70,0.516,8452,0.000,0.050,2789,3421,1907,1740,2074,0,0,0,0,0,0,28.83,25.82,24.94
$GC,1829,1.75,233.5,2789,3421,1742,2073,84.7,18.7,223,1835,0.00,2.30,0.00,0.000,1030,0.000,0.044,2799,2005,1907,1742,2072,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2024,1.82,233.5,2798,2004,1742,2071,52.2,16.8,243,2029,0.00,2.22,0.00,0.000,516,0.000,0.054,2807,583,1906,1742,2071,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2069,1.93,264.6,2806,583,1742,2070,45.2,14.6,251,2101,0.10,2.25,26.27,0.496,11270,0.103,0.041,2851,2006,1782,1622,1942,0,0,0,0,0,0,26.10,26.13,25.05
$GC,2280,1.93,264.6,2851,2006,1624,1938,5.8,19.6,275,2282,0.10,0.00,0.00,0.000,4102,0.162,0.000,2827,2031,1781,1624,1938,0,0,0,0,0,0,26.13,28.83,28.83
$STATE,2297,end climb,SURFACE_DEPTH_REACHED
$STATE,2297,begin surface coast
$FINISH,0.7,1.021226
$STATE,2309,end surface coast,CONTROL_FINISHED_OK
$STATE,2309,begin surface
$SM_CCo,2330,13.88,0.048,0,0,1638,300.00
$SM_GC,2.42,7.32,0.20,13.88,0.043,0.072,0.048,87,1910,1638,-10.59,0.74,300.00,0,0,0,0,0,0,26.06,26.21,26.07
$IRIDIUM_FIX,4713.38,-12223.63,220921,063003
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.12
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.50
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,151.2,40.3
$SC_FREEKB,3958304
$24V_AH,24.35,10.888
$10V_AH,9.68,6.448
$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,18.425,27.625,361.575,13.875,0.000,0.000,0.000,174.525,3.500,0.000,31.357,603.941,834.302,434.142,637.132,209.871,33.276,893.546,0.000,434.836,0.000,13.161,0.000
$DEVICE_MAMPS,259.335,71.910,577.575,48.195,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2316.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.188,0.000,0.000,0.000
$MEM,203696
$DATA_FILE_SIZE,10141,278
$CAP_FILE_SIZE,51544,0
$CFSIZE,260034560,245317632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2863.05,0x239dd2,7,5
$CURRENT,0.098,359.7,1
$GPS,190714,212903,4725.538,-12222.056,13,4.1,33,18.1