version: 66.12
glider: 124
mission: 17
dive: 231
start: 7 22 114 9 42 25
data:
$ID,124
$MISSION,17
$DIVE,231
$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,4
$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,-310292.34
$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,25
$R_STBD_OVSHOOT,27
$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,48
$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
$GPS1,220714,093409,4726.402,-12222.546,12,2.3,32,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-68.3
$GPS2,220714,094120,4726.412,-12222.597,10,2.2,30,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.040,-0.301
$KALMAN_X,-14905.3,-192.4,93.2,13048.6,-88.0
$KALMAN_Y,19543.0,-646.6,316.4,-15746.8,-229.7
$MHEAD_RNG_PITCHd_Wd,168.5,908,-25.0,-16.667,-28.75,1541
$D_GRID,177
$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,-180.8,96,1929,1411,1683,0.0,0.0,0,103,0.00,0.00,-80.10,0.000,16386,0.000,0.000,96,1930,2925,2966,2885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,96,1930,2966,2885,3.7,-2.6,8,142,8.62,2.35,-17.60,0.000,18948,0.258,0.077,2041,503,3600,3671,3530,0,0,0,0,0,0,25.15,25.32,26.64
$GC,281,-1.50,-180.8,2040,503,3672,3532,45.0,-27.0,41,289,0.17,2.28,0.00,0.000,3078,0.181,0.045,2086,1933,3602,3672,3532,0,0,0,0,0,0,25.67,26.11,28.83
$GC,468,-1.50,-180.8,2086,1933,3671,3532,82.4,-19.1,60,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,1933,3600,3670,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,649,-1.50,-180.8,2086,1934,3669,3532,114.1,-17.8,78,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,1934,3600,3669,3532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,838,-1.50,-180.8,2085,1934,3669,3532,145.3,-16.7,97,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,1934,3600,3669,3532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1018,-1.50,-180.8,2086,1934,3668,3532,175.6,-17.8,115,1023,0.00,2.30,0.00,0.000,516,0.000,0.055,2086,502,3600,3668,3532,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,1028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1028,begin apogee
$GC,1038,-0.47,0.0,2086,2000,3668,3532,178.3,-19.3,117,1192,0.70,0.00,142.90,0.568,10246,0.140,0.000,2306,2000,2857,2769,2945,0,0,0,0,0,0,25.68,28.83,24.46
$STATE,1194,end apogee,CONTROL_FINISHED_OK
$STATE,1194,begin climb
$GC,1197,1.69,180.8,2306,2000,2768,2945,188.8,0.0,133,1354,1.38,2.33,144.12,0.552,10500,0.083,0.052,2775,3413,2118,1944,2293,0,0,0,0,0,0,25.33,25.17,24.34
$GC,1382,1.72,212.6,2775,3413,1945,2291,173.0,14.6,168,1413,0.00,2.33,26.12,0.534,9222,0.000,0.044,2786,1996,1995,1816,2174,0,0,0,0,0,0,28.83,25.44,24.33
$GC,1602,1.74,224.7,2786,1996,1813,2163,137.8,15.9,193,1618,0.00,2.25,10.62,0.506,8708,0.000,0.054,2795,594,1941,1769,2113,0,0,0,0,0,0,28.83,25.72,24.51
$GC,1681,1.74,224.7,2795,594,1777,2111,125.6,16.9,207,1687,0.00,2.25,0.00,0.000,1030,0.000,0.041,2795,2005,1944,1778,2111,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1876,1.75,234.0,2797,2006,1779,2111,93.6,16.0,227,1888,0.00,0.00,9.35,0.493,8198,0.000,0.000,2796,2006,1905,1737,2074,0,0,0,0,0,0,28.83,28.83,24.82
$GC,2067,1.86,259.8,2794,2006,1736,2069,62.6,15.0,246,2094,0.00,2.40,21.20,0.509,8708,0.000,0.055,2798,581,1799,1633,1966,0,0,0,0,0,0,28.83,25.96,24.93
$GC,2124,1.95,263.4,2798,581,1634,1964,53.6,16.4,256,2136,0.12,2.28,3.25,0.352,11270,0.086,0.043,2854,2008,1788,1626,1951,0,0,0,0,0,0,26.03,26.03,24.56
$GC,2315,1.95,263.4,2854,2009,1634,1951,18.7,19.2,276,2320,0.00,2.20,0.00,0.000,260,0.000,0.051,2855,3418,1792,1634,1951,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2389,1.95,263.4,2854,3418,1636,1951,4.5,19.2,290,2397,0.12,2.28,0.00,0.000,5126,0.155,0.044,2833,1984,1793,1635,1951,0,0,0,0,0,0,25.94,26.15,28.83
$STATE,2402,end climb,SURFACE_DEPTH_REACHED
$STATE,2402,begin surface coast
$FINISH,0.7,1.021045
$STATE,2414,end surface coast,CONTROL_FINISHED_OK
$STATE,2414,begin surface
$SM_CCo,2435,15.15,0.050,0,0,1639,300.00
$SM_GC,2.59,7.38,0.10,15.15,0.047,0.107,0.050,92,1914,1639,-10.60,0.82,300.00,0,0,0,0,0,0,26.01,26.40,26.13
$IRIDIUM_FIX,4710.21,-12210.45,240921,191828
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.90
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,8
$SC_FREEKB,3931040
$24V_AH,24.33,15.493
$10V_AH,9.63,9.230
$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,18.500,27.750,357.575,15.150,0.000,0.000,0.000,237.450,3.500,0.000,31.649,613.732,917.117,422.776,703.035,239.851,33.275,970.010,0.000,456.297,0.000,10.512,0.000
$DEVICE_MAMPS,257.805,107.100,567.630,49.725,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2425.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.067,0.000,0.000,0.000
$MEM,204076
$DATA_FILE_SIZE,10167,293
$CAP_FILE_SIZE,54444,0
$CFSIZE,260034560,242769920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3207.57,0x239dd2,7,5
$CURRENT,0.096,286.6,1
$GPS,220714,102433,4726.092,-12222.803,12,2.5,32,18.1