version: 66.12
glider: 124
mission: 17
dive: 233
start: 7 22 114 11 19 24
data:
$ID,124
$MISSION,17
$DIVE,233
$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,-310294.84
$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,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
$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
$GPS1,220714,111231,4725.904,-12222.681,13,1.8,13,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-68.7
$GPS2,220714,111819,4725.922,-12222.693,16,1.4,16,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.239,-0.188
$KALMAN_X,-15204.6,-244.7,-51.0,13425.7,-103.1
$KALMAN_Y,19879.8,-653.4,13.4,-16682.1,15.4
$MHEAD_RNG_PITCHd_Wd,114.2,1318,-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,17,begin dive
$GC,21,-1.69,-180.8,92,1914,1533,1750,0.0,0.0,0,93,0.00,0.00,-69.75,0.000,16386,0.000,0.000,92,1914,2821,2848,2795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.69,-180.8,92,1914,2847,2796,3.2,-1.9,7,135,8.60,2.33,-22.30,0.000,18692,0.259,0.067,2038,3325,3600,3671,3529,0,0,0,0,0,0,25.22,25.96,26.61
$GC,260,-1.54,-180.8,2038,3325,3671,3531,37.5,-23.3,38,267,0.15,2.25,0.00,0.000,3078,0.175,0.046,2076,1917,3601,3671,3532,0,0,0,0,0,0,25.75,26.13,28.83
$GC,446,-1.54,-180.8,2076,1917,3669,3532,77.3,-19.6,57,452,0.00,2.20,0.00,0.000,516,0.000,0.054,2077,504,3601,3670,3532,0,0,0,0,0,0,28.83,26.11,28.83
$GC,481,-1.54,-180.8,2075,504,3669,3532,84.1,-19.3,63,486,0.00,2.25,0.00,0.000,1030,0.000,0.044,2076,1931,3600,3669,3532,0,0,0,0,0,0,28.83,26.19,28.83
$GC,675,-1.54,-180.8,2076,1931,3669,3532,119.5,-18.3,83,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,1931,3600,3669,3532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,855,-1.54,-180.8,2076,1931,3668,3534,152.2,-17.5,101,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,1931,3600,3668,3532,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,972,begin apogee
$GC,980,-0.47,0.0,2076,2006,3668,3532,172.8,-16.7,113,1130,0.73,0.00,142.95,0.573,10246,0.136,0.000,2306,2006,2861,2771,2951,0,0,0,0,0,0,25.71,28.83,24.45
$STATE,1132,end apogee,CONTROL_FINISHED_OK
$STATE,1132,begin climb
$GC,1135,1.69,180.8,2306,2006,2769,2950,181.8,0.0,128,1289,1.40,2.40,143.88,0.549,10756,0.089,0.052,2786,586,2120,1947,2293,0,0,0,0,0,0,25.29,25.15,24.35
$GC,1327,1.72,211.2,2786,586,1947,2291,165.2,14.7,163,1358,0.00,2.30,24.95,0.531,9222,0.000,0.043,2786,1999,1999,1825,2173,0,0,0,0,0,0,28.83,25.50,24.46
$GC,1547,1.72,212.7,2786,1999,1834,2172,130.1,16.6,188,1552,0.00,2.22,0.00,0.000,260,0.000,0.053,2786,3410,2003,1835,2172,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1595,1.73,215.0,2786,3410,1836,2172,121.9,16.5,197,1608,0.00,2.28,4.80,0.452,9222,0.000,0.044,2796,1989,1985,1818,2153,0,0,0,0,0,0,28.83,25.95,24.60
$GC,1797,1.75,234.1,2795,1989,1825,2152,89.8,15.4,218,1817,0.00,0.00,17.98,0.516,8198,0.000,0.000,2796,1989,1906,1740,2073,0,0,0,0,0,0,28.83,28.83,24.98
$GC,1997,1.77,251.3,2795,1989,1739,2067,56.8,15.5,238,2019,0.00,2.38,15.05,0.501,8452,0.000,0.050,2796,3410,1833,1670,1996,0,0,0,0,0,0,28.83,26.01,25.00
$GC,2034,1.88,285.7,2796,3410,1670,1994,51.4,14.4,244,2070,0.00,2.25,28.75,0.503,9222,0.000,0.044,2804,2005,1693,1536,1851,0,0,0,0,0,0,28.83,26.03,24.79
$GC,2261,1.99,293.1,2803,2005,1536,1848,16.1,16.2,270,2272,0.12,2.30,2.58,0.075,10756,0.088,0.055,2868,585,1667,1514,1821,0,0,0,0,0,0,26.23,25.94,25.86
$STATE,2328,end climb,SURFACE_DEPTH_REACHED
$STATE,2328,begin surface coast
$FINISH,1.1,1.021437
$STATE,2333,end surface coast,CONTROL_FINISHED_OK
$STATE,2333,begin surface
$SM_CCo,2355,2.80,0.050,0,0,1639,300.00
$SM_GC,3.24,7.50,2.17,2.80,0.047,0.042,0.050,92,1917,1639,-10.60,-0.93,300.00,0,0,0,0,0,0,25.94,26.10,26.08
$IRIDIUM_FIX,4707.04,-12222.91,240921,210054
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.98
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.80
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,150.6,40.3
$SC_FREEKB,3930272
$24V_AH,24.35,15.618
$10V_AH,9.63,9.303
$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,18.500,27.425,380.925,2.800,0.000,0.000,0.000,173.950,3.750,0.000,16.883,588.578,872.182,417.472,635.429,209.629,33.275,895.854,0.000,435.016,0.000,13.156,0.000
$DEVICE_MAMPS,258.570,111.690,572.985,49.725,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2344.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.362,0.000,0.000,0.000
$MEM,203708
$DATA_FILE_SIZE,10143,283
$CAP_FILE_SIZE,52384,0
$CFSIZE,260034560,242708480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2872.26,0x239dd2,7,5
$CURRENT,0.099,325.9,1
$GPS,220714,115943,4725.783,-12222.427,15,1.7,15,18.1