version: 66.12
glider: 124
mission: 17
dive: 25
start: 7 15 114 9 49 25
data:
$ID,124
$MISSION,17
$DIVE,25
$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,8
$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,-307884.44
$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,28
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,300
$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,9.1999998
$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,49
$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
$GPS1,150714,094103,4725.955,-12222.290,13,2.4,33,18.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-67.7
$GPS2,150714,094818,4725.996,-12222.298,12,1.6,12,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.632,-12221.732
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.239,-0.187
$KALMAN_X,-4329.6,-471.8,-385.9,3603.6,80.2
$KALMAN_Y,2348.2,393.4,472.6,-518.3,-155.9
$MHEAD_RNG_PITCHd_Wd,119.9,978,-25.0,-16.667,-28.75,1541
$D_GRID,167
$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,-180.8,95,1920,1532,1747,0.0,0.0,0,102,0.00,0.00,-80.15,0.000,16386,0.000,0.000,95,1920,2959,2993,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,96,1920,2994,2927,3.4,-1.9,8,141,8.55,2.40,-18.00,0.000,18692,0.259,0.071,2040,3328,3600,3664,3536,0,0,0,0,0,0,25.33,25.91,26.48
$GC,225,-1.69,-180.8,2039,3329,3664,3537,27.6,-20.3,30,231,0.00,2.28,0.00,0.000,1030,0.000,0.048,2040,1917,3600,3664,3537,0,0,0,0,0,0,28.83,26.00,28.83
$GC,420,-1.61,-180.8,2040,1917,3664,3537,66.8,-22.5,50,426,0.00,2.30,0.00,0.000,260,0.000,0.057,2040,3332,3601,3664,3538,0,0,0,0,0,0,28.83,25.98,28.83
$GC,454,-1.61,-180.8,2039,3333,3664,3537,74.4,-19.9,56,460,0.00,2.28,0.00,0.000,1030,0.000,0.048,2040,1916,3600,3664,3537,0,0,0,0,0,0,28.83,26.08,28.83
$GC,648,-1.61,-180.8,2039,1916,3664,3537,110.5,-17.8,76,654,0.00,2.30,0.00,0.000,260,0.000,0.057,2041,3333,3600,3664,3537,0,0,0,0,0,0,28.83,26.02,28.83
$GC,729,-1.61,-180.8,2039,3333,3664,3537,125.1,-17.4,91,735,0.00,2.28,0.00,0.000,1030,0.000,0.048,2040,1916,3600,3664,3537,0,0,0,0,0,0,28.83,26.14,28.83
$GC,915,-1.61,-180.8,2040,1916,3663,3537,159.7,-19.7,110,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1915,3600,3663,3537,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,952,begin apogee
$GC,960,-0.47,0.0,2040,2007,3663,3537,167.5,-19.3,114,1116,0.85,0.00,143.82,0.580,10246,0.144,0.000,2303,2007,2858,2754,2962,0,0,0,0,0,0,25.57,28.83,24.44
$STATE,1118,end apogee,CONTROL_FINISHED_OK
$STATE,1118,begin climb
$GC,1121,1.69,180.8,2303,2007,2752,2962,177.1,0.0,130,1274,1.42,0.00,145.75,0.555,10502,0.090,0.000,2779,2007,2120,1946,2294,0,0,0,0,0,0,25.20,28.83,24.30
$GC,1455,1.70,190.4,2778,2007,1947,2289,137.6,16.0,173,1466,0.00,0.00,8.48,0.488,8198,0.000,0.000,2779,2007,2084,1915,2253,0,0,0,0,0,0,28.83,28.83,24.79
$GC,1645,1.70,192.4,2779,2007,1913,2247,106.6,16.5,192,1650,0.00,2.33,0.00,0.000,516,0.000,0.058,2786,590,2080,1913,2247,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1680,1.70,192.4,2786,590,1914,2247,100.8,17.6,198,1685,0.00,2.28,0.00,0.000,1030,0.000,0.047,2786,2004,2080,1914,2247,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1875,1.72,209.8,2786,2005,1914,2245,69.7,15.5,218,1897,0.00,2.33,16.20,0.506,8452,0.000,0.057,2786,3415,2002,1839,2166,0,0,0,0,0,0,28.83,25.94,25.15
$GC,1976,1.74,229.6,2786,3415,1841,2161,53.5,15.4,237,2004,0.00,2.30,17.25,0.500,9222,0.000,0.047,2796,1984,1922,1760,2084,0,0,0,0,0,0,28.83,25.97,25.06
$GC,2183,1.74,229.6,2795,1984,1763,2083,20.1,17.7,260,2188,0.00,2.33,0.00,0.000,260,0.000,0.055,2796,3410,1923,1763,2083,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2238,1.76,242.0,2795,3410,1763,2083,11.3,15.8,270,2250,0.00,2.28,4.82,0.062,9222,0.000,0.048,2805,1999,1875,1715,2036,0,0,0,0,0,0,28.83,26.01,25.96
$STATE,2295,end climb,SURFACE_DEPTH_REACHED
$STATE,2295,begin surface coast
$FINISH,0.9,0.999274
$STATE,2319,end surface coast,CONTROL_FINISHED_OK
$STATE,2319,begin surface
$SM_CCo,2340,23.62,0.048,0,0,1638,300.00
$SM_GC,1.54,7.38,0.12,23.62,0.050,0.099,0.048,93,1913,1638,-10.59,0.76,300.00,0,0,0,0,0,0,25.99,26.24,26.06
$IRIDIUM_FIX,4710.21,-12221.92,170921,192609
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.61
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.30
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,151.8,33.0
$SC_FREEKB,4010144
$24V_AH,24.30,2.534
$10V_AH,9.61,1.600
$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,18.200,27.950,336.325,23.625,0.000,0.000,0.000,214.425,4.750,0.000,13.652,597.017,934.135,422.805,664.532,200.425,33.277,930.039,0.000,431.378,0.000,10.263,0.000
$DEVICE_MAMPS,259.335,98.685,579.870,48.195,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2329.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.751,0.000,0.000,0.000
$MEM,204176
$DATA_FILE_SIZE,10146,279
$CAP_FILE_SIZE,52359,0
$CFSIZE,260034560,250060800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,3148.34,0x239dd2,7,5
$CURRENT,0.087,148.4,1
$GPS,150714,103003,4725.654,-12221.868,9,2.6,29,18.1