version: 66.12
glider: 124
mission: 17
dive: 96
start: 7 17 114 18 2 3
data:
$ID,124
$MISSION,17
$DIVE,96
$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,-307973.19
$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,28
$R_STBD_OVSHOOT,29
$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
$GPS1,170714,175415,4726.306,-12222.801,13,2.2,33,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-67.4
$GPS2,170714,180057,4726.300,-12222.835,14,2.5,34,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.049,-0.300
$KALMAN_X,-8883.6,168.4,117.2,6344.5,-24.5
$KALMAN_Y,9194.7,-10.1,-324.7,-5602.9,196.4
$MHEAD_RNG_PITCHd_Wd,111.6,696,-25.0,-16.667,-28.75,1541
$D_GRID,182
$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,-180.8,92,1915,1532,1746,0.0,0.0,0,103,0.00,0.00,-80.03,0.000,16386,0.000,0.000,92,1915,2926,2953,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,92,1915,2953,2900,3.2,-1.7,8,146,8.52,2.38,-20.67,0.000,18692,0.258,0.073,2036,3320,3601,3665,3538,0,0,0,0,0,0,25.34,25.94,26.53
$GC,376,-1.69,-180.8,2036,3320,3665,3538,57.6,-21.5,60,381,0.00,2.25,0.00,0.000,1030,0.000,0.047,2037,1917,3601,3665,3538,0,0,0,0,0,0,28.83,26.13,28.83
$GC,570,-1.69,-180.8,2036,1917,3665,3538,96.4,-20.6,80,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1917,3601,3665,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,752,-1.69,-180.8,2036,1920,3665,3538,130.5,-18.1,98,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,1917,3602,3665,3539,0,0,0,0,0,0,28.83,28.83,28.83
$GC,940,-1.69,-180.8,2036,1917,3664,3539,165.6,-18.2,117,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,1917,3601,3665,3538,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1027,begin apogee
$GC,1036,-0.47,0.0,2036,2007,3664,3538,182.4,-18.5,126,1186,0.85,0.00,142.32,0.591,10246,0.141,0.000,2302,2007,2860,2756,2964,0,0,0,0,0,0,25.70,28.83,24.46
$STATE,1187,end apogee,CONTROL_FINISHED_OK
$STATE,1187,begin climb
$GC,1190,1.69,180.8,2302,2007,2754,2964,192.7,0.0,141,1344,1.42,2.40,145.35,0.568,11012,0.088,0.054,2780,3410,2121,1941,2301,0,0,0,0,0,0,25.22,25.05,24.34
$GC,1370,1.72,209.8,2780,3410,1942,2296,178.1,14.7,170,1402,0.00,2.35,24.85,0.542,9222,0.000,0.047,2790,1994,2003,1824,2183,0,0,0,0,0,0,28.83,25.31,24.47
$GC,1591,1.73,219.7,2790,1994,1825,2175,142.1,16.0,195,1602,0.00,0.00,9.07,0.503,8198,0.000,0.000,2791,1994,1964,1789,2140,0,0,0,0,0,0,28.83,28.83,24.85
$GC,1781,1.74,224.0,2790,1994,1790,2133,109.7,16.4,214,1793,0.00,2.30,3.92,0.415,8452,0.000,0.054,2790,3409,1948,1780,2117,0,0,1,0,0,0,28.83,25.91,24.79
$GC,1817,1.74,226.8,2790,3409,1782,2116,103.9,16.5,220,1829,0.00,2.28,3.72,0.405,9222,0.000,0.048,2799,2003,1937,1771,2104,0,0,0,0,0,0,28.83,25.98,24.79
$GC,2007,1.74,226.8,2799,2003,1775,2104,71.8,18.0,240,2013,0.00,2.22,0.00,0.000,516,0.000,0.057,2810,590,1939,1774,2104,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2117,1.75,234.8,2809,590,1775,2103,52.2,16.1,261,2135,0.00,2.25,8.90,0.484,9222,0.000,0.044,2810,2004,1902,1738,2066,0,0,0,0,0,0,28.83,26.15,25.14
$GC,2314,1.79,269.0,2809,2004,1738,2063,22.2,14.4,282,2346,0.00,2.25,24.05,0.486,8452,0.000,0.056,2810,3414,1763,1603,1924,0,0,0,0,0,0,28.83,25.98,25.21
$GC,2365,1.81,283.2,2809,3414,1607,1923,14.5,15.7,291,2376,0.00,2.30,6.18,0.072,9222,0.000,0.048,2820,1987,1707,1551,1864,0,0,0,0,0,0,28.83,26.00,25.92
$STATE,2432,end climb,SURFACE_DEPTH_REACHED
$STATE,2432,begin surface coast
$FINISH,1.0,1.021700
$STATE,2445,end surface coast,CONTROL_FINISHED_OK
$STATE,2446,begin surface
$SM_CCo,2466,6.70,0.050,0,0,1638,300.00
$SM_GC,3.19,7.40,0.10,6.70,0.048,0.111,0.050,89,1918,1638,-10.61,0.90,300.00,0,0,0,0,0,0,25.97,26.22,26.04
$IRIDIUM_FIX,4710.21,-12220.22,200921,034619
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.94
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,19.20
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,180.5,32.6
$SC_FREEKB,3982880
$24V_AH,24.34,6.866
$10V_AH,9.31,4.114
$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,18.200,23.250,368.375,6.700,0.000,0.000,0.000,218.625,5.250,0.000,35.683,630.028,909.370,424.597,698.812,232.249,33.290,953.336,0.000,471.956,0.000,15.025,0.000
$DEVICE_MAMPS,257.805,110.925,591.345,49.725,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2453.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.912,0.000,0.000,0.000
$MEM,204020
$DATA_FILE_SIZE,10100,300
$CAP_FILE_SIZE,54253,0
$CFSIZE,260034560,247607296
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$INTR,0,2666.72,0x239dd2,7,5
$INTR,1,1254.97,0x2369a0,1,24
$CURRENT,0.191,295.4,1
$GPS,170714,184433,4726.150,-12222.891,11,4.8,31,18.1