version: 66.12
glider: 124
mission: 17
dive: 45
start: 7 16 114 1 37 36
data:
$ID,124
$MISSION,17
$DIVE,45
$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,-307909.44
$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,29
$R_STBD_OVSHOOT,28
$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
$GPS1,160714,013037,4726.381,-12222.770,12,1.5,12,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-66.1
$GPS2,160714,013631,4726.346,-12222.806,13,1.6,13,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.170,-0.252
$KALMAN_X,-5535.6,28.6,148.7,3144.2,181.3
$KALMAN_Y,3084.1,43.3,-158.3,377.8,-313.0
$MHEAD_RNG_PITCHd_Wd,119.9,2018,-25.0,-16.667,-28.75,1541
$D_GRID,186
$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,-180.8,88,1915,1531,1757,0.0,0.0,0,102,0.00,0.00,-79.80,0.000,16386,0.000,0.000,89,1916,2953,2985,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,88,1916,2985,2922,3.5,-2.0,8,141,8.52,2.30,-17.92,0.000,18948,0.258,0.070,2036,503,3601,3669,3533,0,0,1,0,0,0,25.37,25.58,26.51
$GC,371,-1.62,-180.8,2036,503,3669,3535,64.1,-22.2,59,378,0.10,2.28,0.00,0.000,3078,0.203,0.047,2059,1932,3602,3669,3535,0,0,0,0,0,0,25.82,26.06,28.83
$GC,558,-1.62,-180.8,2059,1931,3669,3536,95.6,-16.3,78,563,0.00,2.30,0.00,0.000,516,0.000,0.057,2060,513,3602,3669,3536,0,0,0,0,0,0,28.83,26.03,28.83
$GC,646,-1.62,-180.8,2060,513,3669,3536,111.5,-19.1,95,652,0.00,2.25,0.00,0.000,1030,0.000,0.047,2060,1930,3602,3669,3536,0,0,0,0,0,0,28.83,26.14,28.83
$GC,833,-1.62,-180.8,2059,1930,3669,3536,143.6,-15.9,114,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,1930,3602,3669,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1023,-1.62,-180.8,2059,1930,3669,3536,173.7,-16.2,133,1029,0.00,2.30,0.00,0.000,516,0.000,0.057,2060,508,3602,3669,3536,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1065,-1.62,-180.8,2059,508,3669,3536,180.6,-17.3,140,1072,0.00,2.25,0.00,0.000,1030,0.000,0.047,2060,1925,3602,3669,3536,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,1097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1097,begin apogee
$GC,1106,-0.47,0.0,2060,2008,3668,3538,186.9,-16.6,144,1257,0.77,0.00,143.27,0.587,10246,0.138,0.000,2303,2008,2859,2753,2965,0,0,0,0,0,0,25.63,28.83,24.46
$STATE,1258,end apogee,CONTROL_FINISHED_OK
$STATE,1258,begin climb
$GC,1262,1.69,180.8,2303,2008,2750,2964,195.1,0.0,159,1422,1.42,0.00,147.45,0.568,10246,0.090,0.000,2780,2008,2119,1941,2297,0,0,0,0,0,0,25.20,28.83,24.31
$GC,1602,1.70,192.7,2779,2008,1942,2291,153.3,15.9,194,1614,0.00,0.00,9.80,0.503,8198,0.000,0.000,2779,2008,2075,1901,2249,0,0,0,0,0,0,28.83,28.83,24.81
$GC,1793,1.71,203.0,2779,2008,1901,2241,121.8,16.0,213,1809,0.00,2.33,9.40,0.500,8708,0.000,0.058,2786,591,2030,1861,2200,0,0,1,0,0,0,28.83,25.83,24.98
$GC,1832,1.73,216.3,2785,591,1862,2200,115.3,15.8,220,1850,0.00,2.28,12.30,0.512,9222,0.000,0.046,2786,2005,1978,1809,2148,0,0,0,0,0,0,28.83,25.91,24.93
$GC,2029,1.73,216.3,2786,2004,1810,2145,79.9,18.1,241,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2005,1977,1810,2145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2210,1.84,255.4,2786,2005,1810,2143,50.5,14.1,259,2253,0.10,2.38,32.92,0.507,10756,0.103,0.058,2843,591,1817,1653,1981,0,0,1,0,0,0,26.32,25.81,25.10
$GC,2298,1.84,255.4,2843,591,1656,1981,35.8,19.2,275,2304,0.12,2.28,0.00,0.000,5126,0.153,0.046,2813,2004,1818,1656,1981,0,0,0,0,0,0,25.70,25.90,28.83
$GC,2494,1.93,267.9,2813,2005,1656,1980,5.2,15.8,295,2505,0.00,2.25,4.90,0.052,8452,0.000,0.054,2812,3414,1769,1611,1928,0,0,0,0,0,0,28.83,25.96,26.01
$STATE,2510,end climb,SURFACE_DEPTH_REACHED
$STATE,2510,begin surface coast
$FINISH,1.5,1.021618
$STATE,2517,end surface coast,CONTROL_FINISHED_OK
$STATE,2517,begin surface
$SM_CCo,2540,12.93,0.050,0,0,1639,300.00
$SM_GC,2.95,7.38,2.47,12.93,0.049,0.047,0.050,95,1918,1639,-10.58,0.76,300.00,0,0,0,0,0,0,25.96,26.03,26.03
$IRIDIUM_FIX,4710.21,-12221.92,180921,111843
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.38
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.20
$XPDR_PINGS,8
$SC_FREEKB,4002464
$24V_AH,24.31,3.743
$10V_AH,9.97,2.307
$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,18.425,27.775,360.050,12.925,0.000,0.000,0.000,193.675,4.000,0.000,13.939,653.530,943.623,448.398,651.618,228.271,33.273,941.801,0.000,471.831,0.000,14.935,0.000
$DEVICE_MAMPS,257.805,103.275,586.755,49.725,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2524.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.801,0.000,0.000,0.000
$MEM,204268
$DATA_FILE_SIZE,10155,299
$CAP_FILE_SIZE,55342,0
$CFSIZE,260034560,249376768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$INTR,0,2889.85,0x239dd2,7,5
$CURRENT,0.080,227.8,1
$GPS,160714,022107,4726.081,-12222.522,12,1.5,12,18.1