version: 66.12
glider: 124
mission: 17
dive: 84
start: 7 17 114 8 40 22
data:
$ID,124
$MISSION,17
$DIVE,84
$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,-307958.19
$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,30
$R_STBD_OVSHOOT,35
$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
$GPS1,170714,083327,4725.334,-12221.861,11,4.1,31,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-65.7
$GPS2,170714,083915,4725.402,-12221.911,14,3.2,34,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,NORTH
$TGT_LATLONG,4725.800,-12222.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.029,0.287
$KALMAN_X,-9473.0,-193.5,99.8,8469.0,-59.3
$KALMAN_Y,9468.4,72.8,194.2,-8138.4,214.6
$MHEAD_RNG_PITCHd_Wd,340.7,745,-26.4,-16.667,-30.00,1390
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-1.75,-161.4,92,1917,1530,1748,0.0,0.0,0,102,0.00,0.00,-79.97,0.000,16386,0.000,0.000,93,1917,2946,2976,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.77,-180.8,92,1916,2976,2917,3.4,-2.0,8,141,8.43,2.40,-18.50,0.000,18692,0.256,0.071,2023,3322,3601,3667,3536,0,0,0,0,0,0,25.36,25.94,26.52
$GC,370,-1.77,-180.8,2023,3322,3666,3538,58.5,-22.2,59,377,0.00,2.25,0.00,0.000,1030,0.000,0.047,2024,1920,3602,3666,3538,0,0,0,0,0,0,28.83,26.10,28.83
$GC,557,-1.77,-180.8,2023,1920,3667,3538,95.6,-20.2,78,562,0.00,2.28,0.00,0.000,260,0.000,0.057,2024,3322,3602,3666,3538,0,0,0,0,0,0,28.83,26.08,28.83
$GC,699,-1.77,-180.8,2023,3322,3669,3538,123.7,-19.5,105,706,0.00,2.25,0.00,0.000,1030,0.000,0.047,2023,1916,3602,3666,3538,0,0,0,0,0,0,28.83,26.20,28.83
$GC,885,-1.77,-180.8,2023,1916,3666,3538,159.2,-19.9,124,893,0.00,2.20,0.00,0.000,516,0.000,0.057,2024,508,3602,3666,3539,0,0,0,0,0,0,28.83,26.14,28.83
$GC,912,-1.77,-180.8,2023,508,3666,3538,164.8,-20.8,128,917,0.00,2.22,0.00,0.000,1030,0.000,0.047,2024,1911,3602,3666,3538,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,952,begin apogee
$GC,961,-0.47,0.0,2023,2013,3666,3538,174.2,-21.0,133,1116,0.90,0.00,143.07,0.575,10246,0.148,0.000,2300,2014,2858,2752,2964,0,0,0,0,0,0,25.63,28.83,24.49
$STATE,1118,end apogee,CONTROL_FINISHED_OK
$STATE,1118,begin climb
$GC,1121,1.77,180.8,2300,2014,2750,2964,181.9,0.0,149,1277,1.48,2.47,146.57,0.557,10756,0.085,0.055,2806,591,2120,1941,2300,0,0,1,0,0,0,25.27,25.03,24.37
$GC,1337,1.77,180.8,2806,591,1941,2292,159.8,16.9,190,1344,0.00,2.30,0.00,0.000,1030,0.000,0.045,2806,1996,2116,1941,2292,0,0,0,0,0,0,28.83,25.47,28.83
$GC,1523,1.77,180.8,2806,1998,1941,2283,127.9,17.1,209,1528,0.00,2.28,0.00,0.000,260,0.000,0.057,2806,3417,2113,1941,2285,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1577,1.77,180.8,2806,3417,1944,2280,118.7,17.5,219,1583,0.00,2.30,0.00,0.000,1030,0.000,0.047,2816,1988,2111,1944,2279,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1772,1.80,201.8,2816,1988,1944,2279,89.5,15.1,239,1791,0.00,0.00,16.55,0.503,8198,0.000,0.000,2816,1988,2037,1869,2206,0,0,0,0,0,0,28.83,28.83,25.14
$GC,1972,1.83,226.9,2817,1988,1869,2202,56.7,14.8,259,2000,0.00,0.00,22.30,0.498,8198,0.000,0.000,2816,1988,1933,1767,2100,0,0,0,0,0,0,28.83,28.83,25.13
$GC,2183,1.90,226.9,2815,1988,1767,2097,23.6,16.8,280,2188,0.00,2.20,0.00,0.000,516,0.000,0.057,2827,595,1932,1767,2097,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2238,1.98,226.9,2829,595,1768,2097,14.5,16.8,290,2243,0.00,2.25,0.00,0.000,1030,0.000,0.046,2827,2004,1932,1767,2097,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,2318,end climb,SURFACE_DEPTH_REACHED
$STATE,2318,begin surface coast
$FINISH,0.8,1.021488
$STATE,2342,end surface coast,CONTROL_FINISHED_OK
$STATE,2343,begin surface
$SM_CCo,2363,29.48,0.049,0,0,1639,300.00
$SM_GC,1.58,7.38,0.20,29.48,0.046,0.077,0.049,84,1912,1639,-10.61,0.76,300.00,0,0,0,0,0,0,26.09,26.25,26.13
$IRIDIUM_FIX,4707.04,-12222.91,190921,182026
$TT8_MAMPS,0.029211,0.029211
$HUMID,66.10
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,19.30
$XPDR_PINGS,8
$SC_FREEKB,3987488
$24V_AH,24.37,6.129
$10V_AH,9.82,3.692
$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,18.175,27.750,328.500,29.475,0.000,0.000,0.000,164.400,3.750,0.000,35.520,628.531,838.097,422.539,664.714,207.680,33.270,893.320,0.000,468.117,0.000,13.326,0.000
$DEVICE_MAMPS,256.275,90.270,575.280,48.960,0.000,0.000,0.000,117.810,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2352.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.460,0.000,0.000,0.000
$MEM,203688
$DATA_FILE_SIZE,10127,301
$CAP_FILE_SIZE,51732,0
$CFSIZE,260034560,248020992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2926.81,0x239dd2,7,5
$CURRENT,0.104,316.4,1
$GPS,170714,092135,4725.782,-12221.927,35,1.2,35,18.1