version: 66.12
glider: 124
mission: 17
dive: 176
start: 7 20 114 9 37 28
data:
$ID,124
$MISSION,17
$DIVE,176
$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,-309274.5
$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,28
$R_STBD_OVSHOOT,31
$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
$GPS1,200714,093030,4725.870,-12222.675,8,1.8,13,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-67.6
$GPS2,200714,093623,4725.949,-12222.723,38,1.4,42,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.209,-0.220
$KALMAN_X,-13496.1,131.0,115.2,11136.3,-218.4
$KALMAN_Y,15662.9,-110.7,-153.3,-12790.0,246.8
$MHEAD_RNG_PITCHd_Wd,116.7,1380,-25.0,-16.667,-28.75,1541
$D_GRID,173
$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,-180.8,91,1913,1529,1752,0.0,0.0,0,93,0.00,0.00,-69.95,0.000,16386,0.000,0.000,91,1914,2810,2833,2787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.69,-180.8,91,1914,2833,2788,3.2,-2.0,7,140,8.60,2.38,-24.12,0.000,18692,0.259,0.069,2041,3323,3601,3671,3531,0,0,0,0,0,0,25.30,26.02,26.65
$GC,181,-1.60,-180.8,2041,3323,3671,3533,16.9,-21.6,22,188,0.00,2.28,0.00,0.000,1030,0.000,0.047,2041,1916,3602,3671,3533,0,0,0,0,0,0,28.83,25.99,28.83
$GC,367,-1.53,-180.8,2041,1916,3671,3533,59.3,-19.6,41,369,0.15,0.00,0.00,0.000,2054,0.176,0.000,2080,1916,3602,3671,3533,0,0,0,0,0,0,26.05,28.83,28.83
$GC,548,-1.53,-180.8,2080,1916,3671,3533,92.0,-17.5,59,554,0.00,2.28,0.00,0.000,260,0.000,0.054,2080,3331,3601,3670,3533,0,0,0,0,0,0,28.83,26.13,28.83
$GC,613,-1.53,-180.8,2080,3331,3670,3533,102.5,-16.3,71,618,0.00,2.25,0.00,0.000,1030,0.000,0.046,2080,1915,3601,3669,3533,0,0,0,0,0,0,28.83,26.25,28.83
$GC,807,-1.53,-180.8,2080,1915,3670,3533,135.3,-16.9,91,812,0.00,2.20,0.00,0.000,516,0.000,0.056,2080,503,3601,3670,3533,0,0,0,0,0,0,28.83,26.17,28.83
$GC,856,-1.53,-180.8,2080,503,3669,3533,144.1,-17.1,100,862,0.00,2.22,0.00,0.000,1030,0.000,0.044,2080,1916,3601,3669,3533,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,1029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1029,begin apogee
$GC,1037,-0.47,0.0,2080,2029,3670,3533,173.5,-16.9,118,1187,0.70,0.00,141.95,0.591,10246,0.134,0.000,2304,2029,2860,2766,2954,0,0,0,0,0,0,25.72,28.83,24.43
$STATE,1188,end apogee,CONTROL_FINISHED_OK
$STATE,1188,begin climb
$GC,1192,1.69,180.8,2304,2029,2764,2953,182.6,0.0,133,1350,1.40,2.45,147.20,0.563,10756,0.089,0.054,2784,591,2120,1944,2297,0,0,0,0,0,0,25.25,25.10,24.35
$GC,1384,1.73,216.9,2784,591,1944,2293,165.6,14.3,167,1420,0.00,2.28,29.88,0.536,9222,0.000,0.042,2784,1984,1974,1796,2153,0,0,0,0,0,0,28.83,25.44,24.46
$GC,1599,1.73,216.9,2784,1984,1796,2148,131.3,16.8,192,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1983,1973,1797,2149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1780,1.81,229.1,2784,1984,1797,2148,102.3,15.9,210,1798,0.08,0.00,11.12,0.503,10246,0.122,0.000,2825,1984,1924,1753,2096,0,0,0,0,0,0,26.29,28.83,24.98
$GC,1979,1.81,229.1,2825,1984,1753,2093,67.0,18.0,230,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1984,1922,1753,2092,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2159,1.82,236.1,2824,1984,1753,2092,35.5,16.2,248,2171,0.00,2.33,6.55,0.461,8452,0.000,0.054,2825,3414,1896,1729,2064,0,0,0,0,0,0,28.83,26.15,25.09
$GC,2242,1.82,236.1,2825,3414,1731,2060,22.6,17.0,263,2250,0.12,2.28,0.00,0.000,5126,0.164,0.045,2804,1982,1895,1731,2060,0,0,0,0,0,0,25.94,26.17,28.83
$STATE,2375,end climb,SURFACE_DEPTH_REACHED
$STATE,2375,begin surface coast
$FINISH,0.8,1.009320
$STATE,2397,end surface coast,CONTROL_FINISHED_OK
$STATE,2397,begin surface
$SM_CCo,2418,25.62,0.049,0,0,1638,300.00
$SM_GC,1.39,7.30,0.10,25.62,0.048,0.106,0.049,91,1914,1638,-10.61,0.76,300.00,0,0,0,0,0,0,26.10,26.46,26.20
$IRIDIUM_FIX,4713.38,-12223.63,220921,191843
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.86
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.50
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,140.5,47.9
$SC_FREEKB,3952160
$24V_AH,24.35,11.880
$10V_AH,9.24,7.042
$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,18.350,23.175,336.700,25.625,0.000,0.000,0.000,155.800,3.500,0.000,42.794,602.514,955.161,410.341,630.049,215.829,33.283,859.863,0.000,434.663,0.000,8.718,0.000
$DEVICE_MAMPS,258.570,106.335,590.580,48.960,0.000,0.000,0.000,120.105,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2407.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.453,0.000,0.000,0.000
$MEM,203696
$DATA_FILE_SIZE,10108,279
$CAP_FILE_SIZE,51953,0
$CFSIZE,260034560,244736000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2869.86,0x239dd2,7,5
$CURRENT,0.146,319.5,1
$GPS,200714,101927,4725.842,-12222.546,10,2.6,30,18.1