version: 66.12
glider: 124
mission: 17
dive: 232
start: 7 22 114 10 31 31
data:
$ID,124
$MISSION,17
$DIVE,232
$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,-310293.59
$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,24
$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
$GPS1,220714,102433,4726.092,-12222.803,12,2.5,32,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-68.5
$GPS2,220714,103024,4726.118,-12222.840,10,1.9,15,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.236,-0.166
$KALMAN_X,-15025.3,-215.1,32.3,12948.9,-131.2
$KALMAN_Y,19724.2,-634.7,176.2,-16348.5,-158.6
$MHEAD_RNG_PITCHd_Wd,126.0,371,-26.4,-16.667,-30.00,1390
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.75,-161.4,92,1914,1531,1748,0.0,0.0,0,93,0.00,0.00,-69.97,0.000,16386,0.000,0.000,92,1914,2844,2876,2813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.77,-180.8,92,1914,2876,2814,3.4,-2.0,7,132,8.52,0.00,-21.00,0.000,18694,0.259,0.000,2020,1877,3601,3672,3530,0,0,0,0,0,0,25.23,28.83,26.62
$GC,314,-1.64,-180.8,2020,1877,3672,3532,54.2,-25.6,31,320,0.12,2.33,0.00,0.000,2308,0.220,0.054,2053,3337,3602,3672,3532,0,0,0,0,0,0,25.98,26.05,28.83
$GC,415,-1.64,-180.8,2053,3337,3672,3532,76.9,-20.3,50,421,0.00,2.25,0.00,0.000,1030,0.000,0.047,2053,1921,3602,3672,3532,0,0,0,0,0,0,28.83,26.19,28.83
$GC,601,-1.64,-180.8,2053,1922,3671,3532,113.6,-20.2,69,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,1922,3601,3671,3532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,781,-1.64,-180.8,2053,1922,3670,3532,147.8,-18.4,87,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,1921,3600,3669,3532,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,939,begin apogee
$GC,947,-0.47,0.0,2053,2012,3669,3532,178.0,-17.8,103,1097,0.80,0.00,142.43,0.584,10246,0.142,0.000,2304,2012,2859,2769,2950,0,0,0,0,0,0,25.66,28.83,24.44
$STATE,1099,end apogee,CONTROL_FINISHED_OK
$STATE,1099,begin climb
$GC,1102,1.77,180.8,2303,2012,2767,2950,187.3,0.0,118,1254,1.42,0.00,143.07,0.558,10502,0.074,0.000,2801,2013,2121,1950,2293,0,0,0,0,0,0,25.33,28.83,24.34
$GC,1433,1.77,180.8,2801,2013,1949,2289,146.9,17.4,153,1439,0.00,2.22,0.00,0.000,260,0.000,0.052,2801,3417,2119,1950,2288,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1462,1.77,180.8,2801,3420,1952,2284,141.7,17.1,158,1469,0.00,2.28,0.00,0.000,1030,0.000,0.044,2811,2003,2117,1950,2284,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1648,1.79,196.1,2811,2003,1952,2284,112.7,15.5,177,1666,0.00,0.00,12.90,0.505,8198,0.000,0.000,2812,2003,2058,1894,2223,0,0,0,0,0,0,28.83,28.83,24.97
$GC,1848,1.79,196.1,2811,2003,1894,2221,80.1,17.2,197,1854,0.00,2.22,0.00,0.000,516,0.000,0.054,2822,579,2057,1894,2221,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1874,1.79,199.6,2821,579,1894,2221,76.0,16.4,201,1886,0.00,2.25,3.03,0.334,9222,0.000,0.043,2822,2005,2048,1887,2210,0,0,0,0,0,0,28.83,26.16,24.65
$GC,2066,1.91,240.3,2821,2005,1893,2211,47.8,13.7,221,2103,0.00,0.00,35.53,0.503,8198,0.000,0.000,2821,2005,1882,1715,2050,0,0,0,0,0,0,28.83,28.83,25.03
$GC,2285,2.00,248.1,2821,2005,1722,2046,13.7,16.1,243,2297,0.10,2.22,3.58,0.069,10500,0.105,0.053,2867,3409,1849,1687,2012,0,0,0,0,0,0,26.32,26.01,25.95
$GC,2335,2.00,248.1,2866,3408,1690,2011,4.5,18.5,252,2342,0.12,2.25,0.00,0.000,5126,0.163,0.045,2844,2001,1850,1690,2011,0,0,0,0,0,0,25.87,26.10,28.83
$STATE,2348,end climb,SURFACE_DEPTH_REACHED
$STATE,2348,begin surface coast
$FINISH,0.7,1.020709
$STATE,2359,end surface coast,CONTROL_FINISHED_OK
$STATE,2359,begin surface
$SM_CCo,2380,20.85,0.049,0,0,1638,300.00
$SM_GC,1.72,7.43,0.12,20.85,0.047,0.094,0.049,92,1914,1638,-10.60,0.82,300.00,0,0,0,0,0,0,25.98,26.32,26.11
$IRIDIUM_FIX,4710.21,-12222.91,240921,201028
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.16
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.40
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,170.5,23.7
$SC_FREEKB,3930656
$24V_AH,24.34,15.553
$10V_AH,9.34,9.266
$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,18.525,18.350,340.525,20.850,0.000,0.000,0.000,177.775,4.250,0.000,15.843,586.190,949.149,427.421,597.934,210.159,33.272,867.478,0.000,405.785,0.000,19.138,0.000
$DEVICE_MAMPS,258.570,94.095,583.695,48.960,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2371.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.296,0.000,0.000,0.000
$MEM,203744
$DATA_FILE_SIZE,6813,255
$CAP_FILE_SIZE,50203,0
$CFSIZE,260034560,242745344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2944.64,0x239dd2,7,5
$CURRENT,0.096,309.2,1
$GPS,220714,111231,4725.904,-12222.681,13,1.8,13,18.1