version: 66.12
glider: 124
mission: 17
dive: 80
start: 7 17 114 5 25 2
data:
$ID,124
$MISSION,17
$DIVE,80
$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,-307953.19
$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,27
$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
$GPS1,170714,051751,4725.793,-12222.224,11,5.1,31,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-67.5
$GPS2,170714,052358,4725.824,-12222.162,16,4.8,36,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.110,-0.283
$KALMAN_X,-9192.1,-170.2,63.3,7879.3,-33.5
$KALMAN_Y,8606.4,-87.6,-245.7,-5895.4,104.3
$MHEAD_RNG_PITCHd_Wd,150.7,784,-25.0,-16.667,-28.75,1541
$D_GRID,170
$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,-180.8,89,1926,1529,1749,0.0,0.0,0,103,0.00,0.00,-80.12,0.000,16386,0.000,0.000,88,1926,2928,2955,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,89,1927,2956,2902,3.2,-1.8,8,144,8.57,0.00,-19.85,0.000,18950,0.259,0.000,2036,1889,3600,3664,3536,0,0,0,0,0,0,25.37,28.83,26.52
$GC,325,-1.56,-180.8,2035,1889,3664,3537,42.9,-21.3,32,331,0.12,2.30,0.00,0.000,2308,0.203,0.054,2070,3333,3600,3663,3537,0,0,0,0,0,0,25.95,26.01,28.83
$GC,384,-1.56,-180.8,2070,3333,3664,3537,55.0,-18.2,43,390,0.00,2.30,0.00,0.000,1030,0.000,0.049,2070,1917,3601,3664,3538,0,0,0,0,0,0,28.83,26.12,28.83
$GC,570,-1.56,-180.8,2070,1917,3664,3537,88.7,-16.7,62,576,0.00,2.20,0.00,0.000,516,0.000,0.057,2070,509,3600,3664,3537,0,0,0,0,0,0,28.83,26.10,28.83
$GC,604,-1.56,-180.8,2070,508,3663,3537,95.3,-18.9,68,610,0.00,2.25,0.00,0.000,1030,0.000,0.047,2070,1927,3601,3664,3538,0,0,0,0,0,0,28.83,26.17,28.83
$GC,799,-1.56,-180.8,2070,1927,3662,3537,128.6,-16.4,88,805,0.00,2.17,0.00,0.000,260,0.000,0.057,2070,3323,3601,3663,3539,0,0,0,0,0,0,28.83,26.11,28.83
$GC,879,-1.56,-180.8,2070,3323,3664,3537,141.4,-16.6,102,884,0.00,2.25,0.00,0.000,1030,0.000,0.047,2070,1914,3600,3663,3537,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,1060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1060,begin apogee
$GC,1068,-0.47,0.0,2070,2006,3663,3537,170.5,-15.3,121,1217,0.75,0.00,142.15,0.580,10246,0.138,0.000,2304,2006,2860,2754,2966,0,0,0,0,0,0,25.69,28.83,24.50
$STATE,1218,end apogee,CONTROL_FINISHED_OK
$STATE,1218,begin climb
$GC,1222,1.69,180.8,2304,2006,2752,2963,178.0,0.0,136,1380,1.40,2.33,145.93,0.557,10500,0.090,0.056,2773,3403,2119,1939,2300,0,0,0,0,0,0,25.22,25.05,24.36
$GC,1413,1.69,180.8,2773,3403,1940,2295,158.2,17.0,162,1420,0.00,2.35,0.00,0.000,1030,0.000,0.047,2783,1983,2119,1943,2296,0,0,0,0,0,0,28.83,25.37,28.83
$GC,1599,1.71,197.1,2783,1983,1940,2289,127.5,15.6,181,1618,0.00,2.40,13.38,0.508,8452,0.000,0.056,2783,3403,2055,1882,2229,0,0,1,0,0,0,28.83,25.72,24.89
$GC,1636,1.71,197.1,2783,3403,1882,2226,120.9,18.1,187,1643,0.00,2.30,0.00,0.000,1030,0.000,0.047,2792,1985,2054,1882,2226,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1823,1.72,209.2,2793,1985,1882,2223,87.7,15.9,206,1840,0.00,0.00,10.98,0.491,8198,0.000,0.000,2793,1985,2005,1836,2175,0,0,0,0,0,0,28.83,28.83,25.05
$GC,2023,1.77,251.1,2793,1985,1836,2172,58.1,13.9,226,2065,0.00,2.33,35.67,0.506,8708,0.000,0.058,2799,587,1836,1667,2005,0,0,0,0,0,0,28.83,25.75,25.03
$GC,2125,1.77,251.1,2798,587,1668,2004,41.4,17.3,245,2132,0.00,2.28,0.00,0.000,1030,0.000,0.045,2798,2000,1836,1668,2004,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2312,1.88,268.6,2798,2000,1669,2002,11.1,15.5,264,2325,0.00,2.33,6.80,0.063,8452,0.000,0.055,2798,3417,1766,1603,1930,0,0,0,0,0,0,28.83,25.96,25.96
$STATE,2359,end climb,SURFACE_DEPTH_REACHED
$STATE,2359,begin surface coast
$FINISH,1.0,1.021727
$STATE,2373,end surface coast,CONTROL_FINISHED_OK
$STATE,2373,begin surface
$SM_CCo,2396,12.82,0.049,0,0,1639,300.00
$SM_GC,2.23,7.32,2.45,12.82,0.047,0.047,0.049,88,1921,1639,-10.61,0.90,300.00,0,0,1,0,0,0,26.01,26.04,26.06
$IRIDIUM_FIX,4707.04,-12222.91,190921,150543
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.65
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.70
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,140.4,50.3
$SC_FREEKB,3989024
$24V_AH,24.36,5.890
$10V_AH,9.35,3.547
$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,18.175,32.400,354.900,12.825,0.000,0.000,0.000,181.400,3.250,0.000,37.583,598.755,898.541,443.721,643.471,208.662,33.276,912.378,0.000,431.159,0.000,11.219,0.000
$DEVICE_MAMPS,259.335,80.325,579.870,48.960,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2379.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.902,0.000,0.000,0.000
$MEM,203668
$DATA_FILE_SIZE,10133,275
$CAP_FILE_SIZE,52400,0
$CFSIZE,260034560,248156160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$INTR,0,2923.91,0x239dd2,7,5
$CURRENT,0.148,  1.1,1
$GPS,170714,060627,4725.695,-12222.071,10,2.7,30,18.1