version: 66.12
glider: 124
mission: 17
dive: 191
start: 7 20 114 21 28 10
data:
$ID,124
$MISSION,17
$DIVE,191
$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,-309293.25
$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,31
$R_STBD_OVSHOOT,28
$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
$GPS1,200714,212133,4725.888,-12222.082,13,4.2,33,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-68.1
$GPS2,200714,212706,4725.908,-12222.025,10,1.0,15,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.009,-0.304
$KALMAN_X,-12783.0,78.9,324.1,11135.2,135.7
$KALMAN_Y,14275.0,-204.9,-367.4,-11177.7,-233.3
$MHEAD_RNG_PITCHd_Wd,167.6,892,-25.0,-16.667,-28.75,1541
$D_GRID,170
$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,-180.8,95,1915,1392,1649,0.0,0.0,0,103,0.00,0.00,-79.68,0.000,16386,0.000,0.000,95,1915,2856,2887,2825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,95,1915,2887,2825,3.3,-2.1,8,146,8.55,2.28,-20.83,0.000,18948,0.257,0.078,2040,514,3602,3676,3529,0,0,0,0,0,0,25.24,26.03,26.63
$GC,376,-1.57,-180.8,2040,514,3677,3531,67.0,-22.9,60,382,0.10,2.22,0.00,0.000,3078,0.194,0.045,2063,1918,3603,3677,3530,0,0,0,0,0,0,25.93,26.18,28.83
$GC,571,-1.57,-180.8,2063,1918,3676,3531,105.2,-19.5,80,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1918,3603,3676,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,752,-1.57,-180.8,2063,1919,3677,3531,137.5,-18.4,98,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1919,3603,3676,3531,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,929,begin apogee
$GC,937,-0.47,0.0,2062,2008,3675,3531,170.4,-17.9,116,1093,0.75,0.00,144.23,0.570,10246,0.138,0.000,2301,2008,2857,2771,2944,0,0,0,0,0,0,25.72,28.83,24.46
$STATE,1095,end apogee,CONTROL_FINISHED_OK
$STATE,1095,begin climb
$GC,1098,1.69,180.8,2301,2008,2769,2944,179.9,0.0,132,1255,1.40,2.45,144.57,0.556,10756,0.087,0.053,2785,592,2119,1948,2291,0,0,0,0,0,0,25.29,25.12,24.35
$GC,1351,1.73,214.5,2785,593,1948,2289,157.3,14.4,178,1385,0.00,2.28,27.38,0.529,9222,0.000,0.042,2785,1991,1985,1814,2156,0,0,0,0,0,0,28.83,25.67,24.57
$GC,1565,1.80,220.1,2785,1991,1815,2153,123.6,16.3,202,1577,0.00,2.25,5.25,0.458,8452,0.000,0.050,2785,3411,1964,1796,2132,0,0,0,0,0,0,28.83,25.87,24.84
$GC,1653,1.81,230.1,2785,3411,1800,2131,109.4,16.0,218,1670,0.00,2.28,10.43,0.500,9222,0.000,0.044,2795,1985,1920,1754,2086,0,0,0,0,0,0,28.83,25.97,24.87
$GC,1859,1.90,247.1,2795,1985,1756,2085,77.4,15.5,240,1884,0.10,2.38,15.10,0.504,10500,0.101,0.052,2842,3410,1851,1686,2016,0,0,0,0,0,0,26.30,25.96,25.01
$GC,1897,1.90,247.1,2842,3410,1687,2014,70.9,17.9,245,1904,0.12,2.28,0.00,0.000,5126,0.160,0.045,2821,1990,1850,1687,2014,0,0,0,0,0,0,25.79,25.98,28.83
$GC,2084,1.91,261.7,2821,1990,1687,2014,40.8,15.7,264,2105,0.00,2.25,12.73,0.485,8708,0.000,0.055,2831,598,1790,1630,1951,0,0,0,0,0,0,28.83,26.02,25.05
$GC,2185,1.99,261.7,2830,598,1634,1951,23.1,17.2,283,2192,0.00,2.22,0.00,0.000,1030,0.000,0.041,2831,2007,1792,1633,1951,0,0,0,0,0,0,28.83,26.12,28.83
$STATE,2320,end climb,SURFACE_DEPTH_REACHED
$STATE,2320,begin surface coast
$FINISH,0.8,1.009648
$STATE,2339,end surface coast,CONTROL_FINISHED_OK
$STATE,2339,begin surface
$SM_CCo,2360,15.15,0.050,0,0,1639,300.00
$SM_GC,2.55,7.38,0.20,15.15,0.047,0.070,0.050,92,1912,1639,-10.59,0.74,300.00,0,0,0,0,0,0,26.07,26.32,26.14
$IRIDIUM_FIX,4657.54,-12229.25,230921,070957
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.86
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,9
$SC_FREEKB,3946400
$24V_AH,24.35,12.817
$10V_AH,9.79,7.585
$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,18.400,23.200,359.675,15.150,0.000,0.000,0.000,162.650,4.000,0.000,15.764,614.777,831.591,424.807,640.601,213.189,33.279,895.534,0.000,464.752,0.000,16.145,0.000
$DEVICE_MAMPS,257.040,91.035,569.925,49.725,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2347.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.448,0.000,0.000,0.000
$MEM,203736
$DATA_FILE_SIZE,10116,299
$CAP_FILE_SIZE,51571,0
$CFSIZE,260034560,244224000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2798.01,0x239dd2,7,5
$CURRENT,0.100,357.6,1
$GPS,200714,220843,4725.729,-12222.047,12,1.4,12,18.1