version: 66.12
glider: 124
mission: 17
dive: 37
start: 7 15 114 19 21 5
data:
$ID,124
$MISSION,17
$DIVE,37
$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,-307899.44
$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,30
$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
$GPS1,150714,191413,4726.088,-12222.687,9,1.5,9,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-67.4
$GPS2,150714,192001,4726.159,-12222.734,12,1.7,12,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,NORTH
$TGT_LATLONG,4725.997,-12222.043
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.245,-0.180
$KALMAN_X,-5760.0,-145.4,-226.7,4006.8,-182.1
$KALMAN_Y,3642.2,177.9,333.0,-1156.8,261.9
$MHEAD_RNG_PITCHd_Wd,108.7,916,-25.0,-16.667,-28.75,1541
$D_GRID,174
$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,-180.8,91,1916,1535,1743,0.0,0.0,0,103,0.00,0.00,-80.20,0.000,16386,0.000,0.000,91,1917,2966,2999,2934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,92,1917,3000,2935,3.4,-1.7,8,142,8.57,2.40,-18.15,0.000,18692,0.259,0.072,2041,3323,3601,3666,3536,0,0,0,0,0,0,25.37,25.92,26.50
$GC,201,-1.59,-180.8,2041,3323,3666,3537,21.0,-20.4,25,209,0.10,2.28,0.00,0.000,3078,0.184,0.048,2064,1915,3601,3666,3537,0,0,0,0,0,0,25.78,26.01,28.83
$GC,388,-1.59,-180.8,2063,1914,3665,3537,62.2,-22.4,44,393,0.00,2.22,0.00,0.000,516,0.000,0.059,2064,504,3601,3665,3538,0,0,0,0,0,0,28.83,25.99,28.83
$GC,452,-1.59,-180.8,2064,504,3665,3537,74.9,-17.5,56,457,0.00,2.28,0.00,0.000,1030,0.000,0.047,2064,1933,3602,3666,3538,0,0,0,0,0,0,28.83,26.09,28.83
$GC,646,-1.59,-180.8,2064,1933,3665,3538,105.3,-16.1,76,651,0.00,2.20,0.00,0.000,260,0.000,0.058,2064,3328,3601,3665,3538,0,0,0,0,0,0,28.83,26.03,28.83
$GC,714,-1.59,-180.8,2064,3327,3665,3538,116.4,-15.8,89,722,0.00,2.28,0.00,0.000,1030,0.000,0.048,2064,1911,3601,3665,3537,0,0,0,0,0,0,28.83,26.15,28.83
$GC,901,-1.59,-180.8,2064,1911,3665,3537,147.7,-17.7,108,906,0.00,2.20,0.00,0.000,516,0.000,0.058,2064,507,3601,3665,3538,0,0,0,0,0,0,28.83,26.08,28.83
$GC,960,-1.59,-180.8,2064,507,3664,3538,158.4,-17.9,119,967,0.00,2.25,0.00,0.000,1030,0.000,0.048,2064,1921,3600,3664,3537,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,1056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1056,begin apogee
$GC,1064,-0.47,0.0,2064,2007,3664,3538,174.9,-17.2,129,1218,0.77,0.00,144.30,0.581,10246,0.138,0.000,2307,2007,2858,2751,2965,0,0,0,0,0,0,25.63,28.83,24.46
$STATE,1220,end apogee,CONTROL_FINISHED_OK
$STATE,1220,begin climb
$GC,1223,1.69,180.8,2306,2006,2750,2964,180.7,0.0,145,1379,1.38,0.00,147.20,0.557,10758,0.074,0.000,2783,2007,2121,1945,2298,0,0,0,0,0,0,25.25,28.83,24.32
$GC,1558,1.71,198.4,2782,2007,1947,2289,138.9,15.5,180,1576,0.00,0.00,14.48,0.515,8454,0.000,0.000,2783,2007,2050,1881,2220,0,0,0,0,0,0,28.83,28.83,24.79
$GC,1757,1.71,198.4,2783,2007,1878,2217,104.6,18.1,201,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2007,2049,1881,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1938,1.71,200.1,2783,2007,1881,2215,74.0,16.5,219,1943,0.00,2.22,0.00,0.000,260,0.000,0.056,2783,3413,2048,1882,2214,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1983,1.71,203.3,2782,3413,1883,2211,66.6,16.5,227,1994,0.00,2.30,3.55,0.377,9222,0.000,0.047,2793,1982,2034,1871,2197,0,0,0,0,0,0,28.83,26.03,24.91
$GC,2175,1.76,239.2,2793,1982,1877,2197,38.4,14.3,247,2212,0.00,0.00,32.38,0.502,8198,0.000,0.000,2793,1983,1884,1720,2048,0,0,0,0,0,0,28.83,28.83,25.14
$GC,2394,1.85,255.3,2793,1982,1722,2047,6.9,15.6,269,2402,0.00,0.00,6.47,0.054,8198,0.000,0.000,2793,1982,1820,1659,1982,0,0,0,0,0,0,28.83,28.83,25.98
$STATE,2420,end climb,SURFACE_DEPTH_REACHED
$STATE,2420,begin surface coast
$FINISH,0.9,1.021358
$STATE,2431,end surface coast,CONTROL_FINISHED_OK
$STATE,2431,begin surface
$SM_CCo,2452,18.10,0.049,0,0,1638,300.00
$SM_GC,1.70,7.35,0.10,18.10,0.050,0.108,0.049,92,1917,1638,-10.60,0.76,300.00,0,0,0,0,0,0,25.93,26.24,26.03
$IRIDIUM_FIX,4710.21,-12220.22,180921,050407
$TT8_MAMPS,0.029211,0.029211
$HUMID,66.53
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,11
$SC_FREEKB,4005536
$24V_AH,24.32,3.271
$10V_AH,9.47,2.024
$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,18.175,22.850,348.375,18.100,0.000,0.000,0.000,190.100,5.250,0.000,13.545,614.456,943.223,442.432,632.206,203.576,33.276,910.527,0.000,428.596,0.000,21.804,0.000
$DEVICE_MAMPS,259.335,107.865,580.635,48.960,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2437.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.492,0.000,0.000,0.000
$MEM,204044
$DATA_FILE_SIZE,10140,273
$CAP_FILE_SIZE,52295,0
$CFSIZE,260034560,249659392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2818.74,0x239dd2,7,5
$CURRENT,0.084,330.7,1
$GPS,150714,200315,4726.046,-12222.385,12,1.2,14,18.1