version: 66.12
glider: 124
mission: 17
dive: 209
start: 7 21 114 12 2 12
data:
$ID,124
$MISSION,17
$DIVE,209
$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,-309427.94
$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
$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
$GPS1,210714,115457,4725.944,-12222.863,12,3.0,32,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-66.5
$GPS2,210714,120105,4725.964,-12222.905,39,1.1,39,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.214,-0.193
$KALMAN_X,-13811.3,-145.1,237.3,11380.5,-134.4
$KALMAN_Y,14824.8,47.6,-145.4,-12091.9,249.2
$MHEAD_RNG_PITCHd_Wd,103.4,221,-26.4,-16.667,-30.00,1390
$D_GRID,175
$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,-1.75,-161.4,93,1915,1062,1394,0.0,0.0,0,124,0.00,0.00,-100.47,0.000,16386,0.000,0.000,93,1915,2931,2979,2883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,129,-1.77,-180.8,94,1915,2979,2884,3.5,-2.2,10,163,8.52,2.33,-17.75,0.000,18692,0.259,0.068,2023,3330,3600,3674,3527,0,0,0,0,0,0,25.24,25.32,26.62
$GC,232,-1.67,-180.8,2023,3330,3674,3530,27.9,-26.9,29,239,0.10,2.25,0.00,0.000,3078,0.190,0.045,2046,1919,3601,3673,3530,0,0,0,0,0,0,25.88,26.13,28.83
$GC,418,-1.67,-180.8,2046,1919,3673,3530,68.4,-20.2,48,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1919,3601,3673,3530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,598,-1.67,-180.8,2046,1920,3672,3530,104.9,-19.8,66,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,1919,3600,3671,3530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,779,-1.67,-180.8,2047,1919,3670,3530,137.7,-17.6,84,784,0.00,2.20,0.00,0.000,516,0.000,0.054,2047,503,3600,3670,3530,0,0,0,0,0,0,28.83,26.19,28.83
$GC,827,-1.67,-180.8,2046,503,3669,3530,147.2,-19.8,93,834,0.00,2.25,0.00,0.000,1030,0.000,0.045,2047,1934,3600,3669,3531,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,980,begin apogee
$GC,988,-0.47,0.0,2047,2007,3669,3530,176.6,-18.0,109,1139,0.82,0.00,143.90,0.575,10246,0.140,0.000,2307,2007,2861,2773,2949,0,0,0,0,0,0,25.72,28.83,24.44
$STATE,1141,end apogee,CONTROL_FINISHED_OK
$STATE,1141,begin climb
$GC,1144,1.77,180.8,2306,2007,2769,2947,184.5,0.0,124,1301,1.40,2.40,146.02,0.547,10756,0.076,0.054,2798,588,2120,1948,2293,0,0,0,0,0,0,25.31,25.13,24.32
$GC,1324,1.88,216.4,2798,588,1948,2291,167.8,14.1,154,1361,0.00,2.30,29.42,0.534,9222,0.000,0.041,2799,2001,1976,1795,2157,0,0,0,0,0,0,28.83,25.41,24.39
$GC,1541,1.95,216.4,2798,2001,1795,2153,132.4,16.7,179,1547,0.12,0.00,0.00,0.000,2054,0.086,0.000,2854,2001,1974,1795,2153,0,0,0,0,0,0,26.05,28.83,28.83
$GC,1731,1.95,216.4,2853,2000,1797,2150,95.8,17.7,198,1737,0.00,2.20,0.00,0.000,260,0.000,0.052,2854,3409,1973,1797,2149,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1786,1.88,216.4,2854,3408,1800,2148,83.8,23.8,208,1792,0.17,2.25,0.00,0.000,5126,0.150,0.044,2817,1996,1974,1800,2148,0,0,0,0,0,0,25.80,26.09,28.83
$GC,1982,1.99,234.1,2817,1996,1800,2148,50.9,15.4,228,2002,0.10,0.00,15.07,0.488,10502,0.101,0.000,2860,1996,1904,1731,2077,0,0,0,0,0,0,26.45,28.83,25.06
$GC,2181,1.99,234.1,2861,1996,1730,2073,15.7,17.4,249,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1996,1901,1730,2073,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2258,end climb,SURFACE_DEPTH_REACHED
$STATE,2258,begin surface coast
$FINISH,1.0,1.021353
$STATE,2269,end surface coast,CONTROL_FINISHED_OK
$STATE,2269,begin surface
$SM_CCo,2290,25.80,0.049,0,0,1638,300.00
$SM_GC,1.44,7.43,0.12,25.80,0.047,0.099,0.049,96,1913,1638,-10.58,0.65,300.00,0,0,0,0,0,0,26.08,26.40,26.20
$IRIDIUM_FIX,4707.04,-11908.83,230921,213617
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.90
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.40
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,130.4,62.7
$SC_FREEKB,3939488
$24V_AH,24.32,13.953
$10V_AH,9.21,8.258
$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,18.675,18.400,334.425,25.800,0.000,0.000,0.000,166.475,3.250,0.000,40.694,561.392,892.223,429.276,610.685,209.035,33.276,873.215,0.000,401.781,0.000,9.575,0.000
$DEVICE_MAMPS,258.570,108.630,575.280,48.960,0.000,0.000,0.000,119.340,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2283.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.381,0.000,0.000,0.000
$MEM,203752
$DATA_FILE_SIZE,6812,258
$CAP_FILE_SIZE,49410,0
$CFSIZE,260034560,243593216
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3312.91,0x239dd2,7,5
$INTR,1,1546.64,0x213b1c,1,24
$CURRENT,0.099,329.6,1
$GPS,210714,124148,4725.893,-12222.555,9,1.8,14,18.1