version: 66.12
glider: 124
mission: 17
dive: 235
start: 7 22 114 12 54 19
data:
$ID,124
$MISSION,17
$DIVE,235
$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,-310297.34
$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,29
$R_STBD_OVSHOOT,29
$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
$GPS1,220714,124721,4725.632,-12222.189,11,3.8,31,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-69.3
$GPS2,220714,125314,4725.669,-12222.194,15,2.5,35,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.186,-0.240
$KALMAN_X,-15422.5,-231.6,-175.7,14377.5,-91.2
$KALMAN_Y,20237.7,-555.3,-138.8,-17453.1,101.8
$MHEAD_RNG_PITCHd_Wd,125.7,550,-25.0,-16.667,-28.75,1541
$D_GRID,173
$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,16,begin dive
$GC,20,-1.69,-180.8,96,1912,1532,1746,0.0,0.0,0,93,0.00,0.00,-70.12,0.000,16386,0.000,0.000,96,1914,2882,2918,2847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.69,-180.8,96,1912,2918,2848,3.7,-2.3,7,130,8.55,2.40,-18.52,0.000,18692,0.257,0.069,2039,3332,3600,3671,3530,0,0,0,0,0,0,25.25,26.00,26.63
$GC,217,-1.55,-180.8,2038,3332,3671,3533,28.8,-23.6,29,223,0.12,2.25,0.00,0.000,3078,0.178,0.045,2070,1917,3601,3670,3533,0,0,0,0,0,0,25.83,26.14,28.83
$GC,412,-1.55,-180.8,2069,1917,3670,3533,70.7,-20.4,49,418,0.00,2.20,0.00,0.000,516,0.000,0.054,2070,504,3601,3670,3533,0,0,0,0,0,0,28.83,26.12,28.83
$GC,447,-1.55,-180.8,2070,504,3669,3533,77.7,-21.2,55,452,0.00,2.25,0.00,0.000,1030,0.000,0.045,2070,1923,3601,3669,3533,0,0,0,0,0,0,28.83,26.18,28.83
$GC,641,-1.55,-180.8,2069,1923,3668,3533,113.7,-18.5,75,646,0.00,2.20,0.00,0.000,260,0.000,0.055,2070,3336,3601,3669,3533,0,0,0,0,0,0,28.83,26.16,28.83
$GC,691,-1.55,-180.8,2069,3336,3668,3533,123.2,-18.3,84,697,0.00,2.25,0.00,0.000,1030,0.000,0.045,2070,1915,3601,3669,3533,0,0,0,0,0,0,28.83,26.27,28.83
$GC,877,-1.55,-180.8,2069,1915,3668,3533,157.0,-17.2,103,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,1915,3600,3667,3533,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,964,begin apogee
$GC,972,-0.47,0.0,2070,2008,3668,3533,173.2,-17.9,112,1127,0.75,0.00,142.77,0.578,10246,0.141,0.000,2304,2009,2859,2768,2950,0,0,0,0,0,0,25.70,28.83,24.44
$STATE,1129,end apogee,CONTROL_FINISHED_OK
$STATE,1129,begin climb
$GC,1132,1.69,180.8,2303,2009,2766,2950,182.5,0.0,128,1288,1.40,2.35,142.73,0.552,10500,0.091,0.051,2774,3411,2120,1947,2293,0,0,0,0,0,0,25.30,25.17,24.34
$GC,1357,1.70,190.0,2774,3411,1951,2291,159.8,16.1,171,1374,0.00,2.30,8.88,0.494,9222,0.000,0.044,2784,1994,2083,1913,2253,0,0,0,0,0,0,28.83,25.61,24.53
$GC,1554,1.74,227.0,2783,1994,1913,2251,131.0,14.2,192,1592,0.00,2.25,30.48,0.530,8708,0.000,0.057,2786,595,1934,1763,2105,0,0,0,0,0,0,28.83,25.69,24.77
$GC,1617,1.83,252.0,2786,596,1766,2104,121.7,15.0,201,1645,0.10,2.25,21.55,0.517,11270,0.099,0.041,2836,2005,1830,1661,1999,0,0,0,0,0,0,25.79,25.82,24.68
$GC,1834,1.83,252.0,2836,2005,1668,1997,78.2,21.5,225,1841,0.12,2.22,0.00,0.000,4356,0.150,0.049,2799,3416,1832,1668,1996,0,0,0,0,0,0,25.92,25.92,28.83
$GC,1904,1.83,252.0,2799,3416,1670,1993,64.7,18.9,238,1911,0.00,2.28,0.00,0.000,1030,0.000,0.044,2807,1987,1832,1670,1995,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2090,1.92,256.9,2809,1987,1670,1995,34.3,16.3,257,2103,0.00,2.28,3.03,0.325,8708,0.000,0.054,2817,585,1815,1654,1976,0,0,0,0,0,0,28.83,26.10,24.59
$GC,2160,2.05,291.0,2817,585,1657,1976,24.1,14.4,269,2193,0.12,2.22,24.83,0.479,11270,0.089,0.041,2870,2005,1672,1519,1825,0,0,0,0,0,0,26.19,26.20,25.06
$STATE,2269,end climb,SURFACE_DEPTH_REACHED
$STATE,2269,begin surface coast
$FINISH,1.0,1.020594
$STATE,2280,end surface coast,CONTROL_FINISHED_OK
$STATE,2280,begin surface
$SM_CCo,2301,3.15,0.050,0,0,1638,300.00
$SM_GC,3.30,7.50,0.17,3.15,0.047,0.073,0.050,92,1930,1638,-10.60,1.13,300.00,0,0,0,0,0,0,25.95,26.22,26.06
$IRIDIUM_FIX,4710.21,-12224.61,240921,223559
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.55
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,141.0,48.8
$SC_FREEKB,3929504
$24V_AH,24.34,15.745
$10V_AH,9.28,9.375
$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,18.675,32.075,374.250,3.150,0.000,0.000,0.000,158.375,3.750,0.000,36.721,583.140,810.417,424.152,640.291,215.630,33.288,892.071,0.000,447.066,0.000,11.628,0.000
$DEVICE_MAMPS,257.040,73.440,578.340,49.725,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2292.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.311,0.000,0.000,0.000
$MEM,203724
$DATA_FILE_SIZE,10147,284
$CAP_FILE_SIZE,52975,0
$CFSIZE,260034560,242634752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2867.59,0x239dd2,7,5
$CURRENT,0.081,320.0,1
$GPS,220714,133405,4725.473,-12221.980,32,1.2,36,18.1