version: 66.12
glider: 124
mission: 17
dive: 104
start: 7 18 114 0 6 33
data:
$ID,124
$MISSION,17
$DIVE,104
$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,-307983.19
$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,31
$ROLL_AD_RATE,250
$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
$GPS1,170714,235548,4726.541,-12223.260,12,1.7,32,18.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-67.1
$GPS2,180714,000527,4726.583,-12223.320,12,3.5,32,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TTP_NW
$TGT_LATLONG,4726.609,-12223.100
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.286,0.040
$KALMAN_X,-9585.9,-3.5,-130.9,6856.8,-94.7
$KALMAN_Y,10775.5,279.8,436.1,-7707.8,-2.2
$MHEAD_RNG_PITCHd_Wd,61.3,281,-26.4,-16.667,-30.00,1390
$D_GRID,198
$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,-1.75,-161.4,91,1908,1534,1745,0.0,0.0,0,103,0.00,0.00,-79.80,0.000,16386,0.000,0.000,91,1909,2955,2985,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.77,-180.8,91,1909,2985,2926,3.3,-2.0,8,142,8.52,2.40,-18.77,0.000,18692,0.259,0.070,2021,3321,3601,3664,3538,0,0,0,0,0,0,25.32,25.92,26.52
$GC,372,-1.77,-180.8,2021,3321,3664,3541,55.9,-17.9,59,378,0.00,2.25,0.00,0.000,1030,0.000,0.047,2022,1918,3602,3664,3541,0,0,0,0,0,0,28.83,26.11,28.83
$GC,558,-1.77,-180.8,2022,1919,3664,3541,92.6,-19.4,78,563,0.00,2.28,0.00,0.000,260,0.000,0.056,2022,3321,3602,3664,3541,0,0,0,0,0,0,28.83,26.06,28.83
$GC,596,-1.77,-180.8,2022,3321,3664,3541,100.2,-19.1,85,603,0.00,2.25,0.00,0.000,1030,0.000,0.047,2023,1915,3603,3665,3541,0,0,0,0,0,0,28.83,26.19,28.83
$GC,782,-1.77,-180.8,2022,1915,3664,3541,135.3,-19.6,104,787,0.00,2.20,0.00,0.000,516,0.000,0.057,2022,508,3602,3664,3541,0,0,0,0,0,0,28.83,26.13,28.83
$GC,881,-1.69,-180.8,2022,508,3664,3541,155.4,-22.9,122,886,0.00,2.25,0.00,0.000,1030,0.000,0.047,2022,1932,3603,3664,3543,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1075,-1.69,-180.8,2022,1935,3664,3541,193.8,-19.1,142,1080,0.00,2.17,0.00,0.000,260,0.000,0.057,2022,3322,3602,3663,3541,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,1097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1097,begin apogee
$GC,1107,-0.47,0.0,2022,1999,3663,3542,198.4,-18.3,146,1260,0.93,0.00,141.50,0.594,10246,0.150,0.000,2306,1997,2858,2751,2965,0,0,0,0,0,0,25.62,28.83,24.47
$STATE,1262,end apogee,CONTROL_FINISHED_OK
$STATE,1262,begin climb
$GC,1265,1.77,180.8,2305,1998,2749,2965,204.6,0.0,162,1422,1.42,2.45,143.43,0.571,10500,0.076,0.054,2799,3403,2120,1941,2299,0,0,0,0,0,0,25.29,25.07,24.35
$GC,1611,1.77,180.8,2799,3403,1945,2286,160.1,17.2,228,1616,0.00,2.30,0.00,0.000,1030,0.000,0.044,2809,1982,2116,1946,2286,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1806,1.78,190.7,2809,1982,1945,2284,127.5,15.9,248,1816,0.00,0.00,8.07,0.486,8198,0.000,0.000,2809,1982,2083,1914,2252,0,0,0,0,0,0,28.83,28.83,25.06
$GC,1995,1.78,190.7,2808,1981,1913,2248,95.6,16.8,267,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1982,2080,1913,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2175,1.80,206.1,2809,1982,1915,2246,66.3,15.5,285,2197,0.00,2.35,13.65,0.495,8452,0.000,0.054,2809,3419,2018,1853,2184,0,0,0,0,0,0,28.83,26.10,25.25
$GC,2312,1.80,206.1,2809,3419,1855,2180,43.1,16.8,311,2318,0.00,2.28,0.00,0.000,1030,0.000,0.044,2819,1985,2017,1855,2180,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2508,1.94,248.3,2818,1985,1855,2180,16.5,13.6,331,2528,0.00,0.00,18.33,0.076,8198,0.000,0.000,2819,1985,1849,1681,2017,0,0,0,0,0,0,28.83,28.83,26.03
$STATE,2594,end climb,SURFACE_DEPTH_REACHED
$STATE,2594,begin surface coast
$FINISH,1.1,1.021654
$STATE,2608,end surface coast,CONTROL_FINISHED_OK
$STATE,2608,begin surface
$SM_CCo,2629,21.15,0.049,0,0,1638,300.00
$SM_GC,1.48,7.32,0.10,21.15,0.047,0.109,0.049,93,1917,1638,-10.59,0.85,300.00,0,0,0,0,0,0,26.10,26.44,26.19
$IRIDIUM_FIX,4710.21,-12221.92,200921,103159
$TT8_MAMPS,0.029211,0.029211
$HUMID,66.38
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.20
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,161.1,49.4
$SC_FREEKB,3979808
$24V_AH,24.35,7.350
$10V_AH,9.69,4.395
$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,18.200,27.550,324.975,21.150,0.000,0.000,0.000,337.675,4.750,0.000,33.151,712.342,1016.835,409.988,878.384,230.990,33.264,1075.012,0.000,528.838,0.000,11.899,0.000
$DEVICE_MAMPS,258.570,117.810,594.405,48.960,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2616.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.994,0.000,0.000,0.000
$MEM,203732
$DATA_FILE_SIZE,10130,341
$CAP_FILE_SIZE,56744,0
$CFSIZE,260034560,247324672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,132.6,1
$GPS,180714,005202,4726.612,-12222.745,13,2.5,33,18.1