version: 66.12
glider: 124
mission: 17
dive: 190
start: 7 20 114 20 41 31
data:
$ID,124
$MISSION,17
$DIVE,190
$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,-309292
$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,32
$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
$GPS1,200714,203339,4726.034,-12222.670,7,2.7,27,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-68.7
$GPS2,200714,204024,4725.979,-12222.652,16,2.0,33,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.240,-0.186
$KALMAN_X,-13031.8,37.8,345.8,10616.0,91.6
$KALMAN_Y,14134.3,-205.2,-390.3,-10853.4,-287.7
$MHEAD_RNG_PITCHd_Wd,101.8,1359,-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,18,begin dive
$GC,21,-1.69,-180.8,89,1919,1538,1742,0.0,0.0,0,94,0.00,0.00,-70.05,0.000,16386,0.000,0.000,89,1919,2840,2867,2814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-1.69,-180.8,88,1919,2867,2815,3.4,-2.1,7,136,8.68,2.28,-19.55,0.000,18948,0.261,0.067,2036,518,3601,3678,3525,0,0,0,0,0,0,25.24,26.01,26.56
$GC,337,-1.56,-180.8,2036,515,3678,3526,58.8,-22.7,53,344,0.12,2.22,0.00,0.000,3078,0.192,0.044,2066,1917,3602,3678,3526,0,0,0,0,0,0,25.82,26.15,28.83
$GC,533,-1.56,-180.8,2065,1917,3677,3526,95.4,-17.4,73,539,0.00,2.20,0.00,0.000,260,0.000,0.054,2066,3327,3601,3677,3526,0,0,0,0,0,0,28.83,26.10,28.83
$GC,598,-1.56,-180.8,2065,3327,3677,3526,106.7,-17.0,85,604,0.00,2.22,0.00,0.000,1030,0.000,0.045,2066,1921,3601,3677,3526,0,0,0,0,0,0,28.83,26.23,28.83
$GC,797,-1.56,-180.8,2066,1920,3677,3526,141.2,-18.3,105,803,0.00,2.28,0.00,0.000,260,0.000,0.054,2066,3340,3601,3677,3526,0,0,0,0,0,0,28.83,26.17,28.83
$GC,836,-1.56,-180.8,2066,3340,3677,3526,148.7,-16.6,112,843,0.00,2.25,0.00,0.000,1030,0.000,0.046,2066,1920,3601,3676,3526,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,972,begin apogee
$GC,980,-0.47,0.0,2066,2010,3676,3526,172.6,-17.5,126,1134,0.75,0.00,143.30,0.576,10246,0.137,0.000,2304,2010,2858,2769,2948,0,0,0,0,0,0,25.70,28.83,24.45
$STATE,1135,end apogee,CONTROL_FINISHED_OK
$STATE,1135,begin climb
$GC,1139,1.69,180.8,2303,2010,2768,2948,182.1,0.0,142,1294,1.38,0.00,146.35,0.554,10502,0.081,0.000,2775,2010,2121,1952,2291,0,0,0,0,0,0,25.29,28.83,24.36
$GC,1474,1.91,295.2,2775,2010,1952,2283,150.7,9.1,181,1572,0.15,0.00,91.88,0.534,10502,0.077,0.000,2844,2010,1655,1491,1819,0,0,0,0,0,0,25.97,28.83,24.48
$GC,1754,1.91,295.2,2844,2011,1501,1819,94.5,22.1,215,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2010,1660,1502,1819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1933,1.91,295.2,2844,2010,1503,1819,55.6,19.3,233,1940,0.00,2.20,0.00,0.000,260,0.000,0.051,2844,3415,1661,1503,1819,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2012,1.91,295.2,2846,3416,1503,1818,40.5,19.2,248,2020,0.12,2.28,0.00,0.000,5126,0.161,0.045,2823,1986,1661,1503,1819,0,0,0,0,0,0,25.88,26.09,28.83
$GC,2200,2.05,328.2,2823,1986,1503,1819,8.2,14.5,267,2219,0.12,0.00,13.90,0.057,10502,0.090,0.000,2881,1986,1523,1357,1690,0,0,0,0,0,0,26.40,28.83,26.13
$STATE,2235,end climb,SURFACE_DEPTH_REACHED
$STATE,2235,begin surface coast
$FINISH,0.9,1.007979
$STATE,2246,end surface coast,CONTROL_FINISHED_OK
$STATE,2246,begin surface
$SM_CCo,2328,0.00,0.000,0,0,1522,328.46
$SM_GC,1.87,7.47,0.10,0.00,0.046,0.107,0.000,95,1915,1522,-10.58,0.85,328.46,0,0,0,0,0,0,26.08,26.42,28.83
$IRIDIUM_FIX,4719.74,-12217.25,230921,062229
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.98
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,19.50
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,141.2,46.3
$SC_FREEKB,3946784
$24V_AH,24.36,12.755
$10V_AH,9.35,7.548
$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,18.800,18.225,395.425,0.000,0.000,0.000,0.000,216.975,3.750,0.000,34.223,565.399,868.910,436.094,652.405,226.094,33.280,942.723,0.000,421.943,0.000,8.715,0.000
$DEVICE_MAMPS,260.865,107.100,576.045,0.000,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2256.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.006,0.000,0.000,0.000
$MEM,204080
$DATA_FILE_SIZE,10101,273
$CAP_FILE_SIZE,48438,0
$CFSIZE,260034560,244260864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2920.75,0x239dd2,7,5
$CURRENT,0.077, 55.7,1
$GPS,200714,212133,4725.888,-12222.082,13,4.2,33,18.1