version: 66.12
glider: 124
mission: 17
dive: 234
start: 7 22 114 12 6 30
data:
$ID,124
$MISSION,17
$DIVE,234
$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,-310296.09
$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,26
$R_STBD_OVSHOOT,26
$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
$GPS1,220714,115943,4725.783,-12222.427,15,1.7,15,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-68.9
$GPS2,220714,120525,4725.815,-12222.437,15,1.6,15,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.228,-0.201
$KALMAN_X,-15335.1,-227.0,-102.6,13909.8,-147.8
$KALMAN_Y,20078.3,-603.2,-67.2,-17048.6,52.4
$MHEAD_RNG_PITCHd_Wd,122.8,952,-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,-180.8,92,1934,1527,1754,0.0,0.0,0,94,0.00,0.00,-70.07,0.000,16386,0.000,0.000,92,1932,2840,2870,2810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-1.69,-180.8,92,1933,2870,2811,3.4,-2.2,7,136,8.55,2.28,-21.12,0.000,18692,0.256,0.070,2039,3334,3600,3671,3530,0,0,0,0,0,0,25.22,24.54,26.59
$GC,207,-1.57,-180.8,2038,3334,3671,3532,25.1,-21.9,27,213,0.12,2.28,0.00,0.000,3078,0.181,0.047,2069,1915,3602,3671,3533,0,0,0,0,0,0,25.79,26.10,28.83
$GC,402,-1.57,-180.8,2069,1915,3670,3532,68.0,-21.1,47,407,0.00,2.20,0.00,0.000,516,0.000,0.054,2069,504,3601,3670,3532,0,0,0,0,0,0,28.83,26.10,28.83
$GC,426,-1.51,-180.8,2069,504,3670,3532,72.5,-18.7,51,431,0.00,2.25,0.00,0.000,1030,0.000,0.046,2069,1920,3601,3670,3532,0,0,0,0,0,0,28.83,26.17,28.83
$GC,620,-1.51,-180.8,2069,1920,3669,3532,109.4,-18.6,71,626,0.00,2.20,0.00,0.000,260,0.000,0.055,2069,3330,3600,3669,3532,0,0,0,0,0,0,28.83,26.14,28.83
$GC,688,-1.51,-180.8,2069,3330,3669,3532,120.8,-18.0,83,694,0.00,2.25,0.00,0.000,1030,0.000,0.045,2069,1911,3600,3669,3532,0,0,0,0,0,0,28.83,26.28,28.83
$GC,882,-1.51,-180.8,2069,1912,3668,3532,156.4,-17.4,103,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,1912,3600,3668,3532,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,979,begin apogee
$GC,988,-0.47,0.0,2069,2008,3667,3533,173.5,-17.5,113,1138,0.75,0.00,143.30,0.580,10246,0.142,0.000,2304,2008,2860,2770,2950,0,0,0,0,0,0,25.70,28.83,24.44
$STATE,1140,end apogee,CONTROL_FINISHED_OK
$STATE,1140,begin climb
$GC,1143,1.69,180.8,2304,2007,2767,2950,182.6,0.0,128,1300,1.40,2.40,143.93,0.552,10756,0.090,0.053,2785,582,2119,1946,2293,0,0,0,0,0,0,25.28,25.15,24.34
$GC,1314,1.73,220.6,2784,582,1948,2293,168.3,14.0,154,1355,0.00,2.33,32.80,0.536,9222,0.000,0.041,2785,2006,1958,1781,2136,0,0,0,0,0,0,28.83,25.40,24.41
$GC,1544,1.73,220.6,2785,2006,1789,2135,129.8,16.9,181,1550,0.00,2.22,0.00,0.000,260,0.000,0.051,2785,3420,1962,1790,2135,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1569,1.73,220.6,2784,3422,1790,2135,125.5,16.9,185,1575,0.00,2.30,0.00,0.000,1030,0.000,0.043,2795,1980,1963,1791,2135,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1764,1.75,236.7,2794,1981,1793,2135,93.6,15.6,205,1782,0.00,0.00,15.07,0.506,8198,0.000,0.000,2795,1981,1894,1726,2063,0,0,0,0,0,0,28.83,28.83,24.99
$GC,1964,1.76,239.5,2794,1981,1726,2060,60.0,16.5,225,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1981,1893,1726,2060,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2145,1.88,269.5,2794,1981,1726,2059,33.8,14.7,243,2178,0.10,2.25,24.83,0.490,10756,0.101,0.054,2854,586,1760,1601,1919,0,0,0,0,0,0,26.48,26.02,25.10
$GC,2197,1.88,270.2,2854,586,1602,1918,25.6,16.6,251,2203,0.12,2.25,0.00,0.000,5126,0.143,0.041,2821,2007,1760,1602,1918,0,0,0,0,0,0,25.89,26.08,28.83
$STATE,2329,end climb,SURFACE_DEPTH_REACHED
$STATE,2329,begin surface coast
$FINISH,1.4,1.020831
$STATE,2341,end surface coast,CONTROL_FINISHED_OK
$STATE,2341,begin surface
$SM_CCo,2362,11.77,0.050,0,0,1638,300.00
$SM_GC,3.66,7.35,0.20,11.77,0.047,0.069,0.050,96,1913,1638,-10.58,0.74,300.00,0,0,0,0,0,0,25.99,26.29,26.10
$IRIDIUM_FIX,4710.21,-12226.32,240921,214855
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.02
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,140.5,47.6
$SC_FREEKB,3929888
$24V_AH,24.34,15.681
$10V_AH,9.75,9.339
$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,18.400,27.600,359.925,11.775,0.000,0.000,0.000,168.675,5.000,0.000,15.767,579.440,916.878,422.844,603.489,210.214,33.284,878.863,0.000,413.806,0.000,11.617,0.000
$DEVICE_MAMPS,255.510,71.910,579.870,50.490,0.000,0.000,0.000,119.340,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2350.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.684,0.000,0.000,0.000
$MEM,203696
$DATA_FILE_SIZE,6842,266
$CAP_FILE_SIZE,51455,0
$CFSIZE,260034560,242671616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2825.00,0x239dd2,7,5
$CURRENT,0.090,324.3,1
$GPS,220714,124721,4725.632,-12222.189,11,3.8,31,18.1