version: 66.12
glider: 124
mission: 17
dive: 162
start: 7 19 114 22 23 56
data:
$ID,124
$MISSION,17
$DIVE,162
$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,-309257
$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,34
$R_STBD_OVSHOOT,25
$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
$GPS1,190714,221702,4725.382,-12221.963,13,2.0,13,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-62.2
$GPS2,190714,222249,4725.454,-12221.969,13,2.0,13,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,NORTH
$TGT_LATLONG,4725.800,-12222.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.012,0.288
$KALMAN_X,-13930.9,11.5,-139.1,12891.1,-63.3
$KALMAN_Y,15484.7,45.6,33.0,-13872.5,150.0
$MHEAD_RNG_PITCHd_Wd,338.5,641,-26.4,-16.667,-30.00,1390
$D_GRID,172
$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,-161.4,84,1911,1534,1743,0.0,0.0,0,102,0.00,0.00,-79.43,0.000,16386,0.000,0.000,84,1911,2949,2988,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.77,-180.8,84,1911,2988,2910,3.3,-1.7,8,141,8.52,2.40,-17.83,0.000,19204,0.258,0.068,2019,3330,3601,3672,3531,0,0,0,0,0,0,25.27,25.97,26.57
$GC,371,-1.69,-180.8,2019,3331,3671,3533,64.2,-23.6,59,377,0.00,2.25,0.00,0.000,1030,0.000,0.046,2020,1918,3602,3672,3533,0,0,0,0,0,0,28.83,26.16,28.83
$GC,557,-1.69,-180.8,2019,1918,3672,3533,107.0,-22.0,78,563,0.00,2.30,0.00,0.000,260,0.000,0.053,2020,3342,3602,3672,3533,0,0,0,0,0,0,28.83,26.13,28.83
$GC,763,-1.69,-180.8,2019,3343,3672,3533,146.9,-19.3,118,769,0.00,2.28,0.00,0.000,1030,0.000,0.047,2019,1914,3602,3672,3533,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,894,begin apogee
$GC,902,-0.47,0.0,2019,2009,3672,3533,173.4,-19.3,132,1052,0.93,0.00,142.52,0.580,10246,0.155,0.000,2301,2009,2860,2769,2951,0,0,0,0,0,0,25.60,28.83,24.46
$STATE,1054,end apogee,CONTROL_FINISHED_OK
$STATE,1054,begin climb
$GC,1057,1.77,180.8,2300,2009,2767,2951,181.6,0.0,147,1215,1.45,2.47,144.50,0.555,11012,0.084,0.053,2802,586,2121,1951,2292,0,0,0,0,0,0,25.27,25.10,24.35
$GC,1266,1.77,180.8,2802,585,1952,2289,162.7,17.3,183,1272,0.00,2.30,0.00,0.000,1030,0.000,0.041,2802,2004,2120,1951,2289,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1461,1.79,198.0,2802,2004,1951,2282,130.1,15.4,203,1483,0.00,2.25,14.45,0.510,8452,0.000,0.052,2802,3411,2052,1886,2218,0,0,0,0,0,0,28.83,25.81,24.88
$GC,1563,1.79,198.0,2802,3411,1887,2214,114.0,17.3,222,1570,0.00,2.28,0.00,0.000,1030,0.000,0.044,2812,1995,2050,1887,2214,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1749,1.80,205.4,2811,1996,1887,2213,83.4,16.1,241,1761,0.00,2.30,7.00,0.467,8708,0.000,0.057,2821,591,2021,1859,2184,0,0,0,0,0,0,28.83,26.02,25.00
$GC,1795,1.80,205.4,2821,591,1859,2183,75.5,17.3,249,1802,0.00,2.22,0.00,0.000,1030,0.000,0.042,2821,2002,2021,1859,2184,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1990,1.84,242.5,2822,2002,1858,2182,46.8,13.9,269,2028,0.00,0.00,32.03,0.501,8198,0.000,0.000,2821,2002,1870,1705,2035,0,0,0,0,0,0,28.83,28.83,25.08
$GC,2211,2.00,276.4,2821,2002,1706,2033,12.5,14.2,291,2233,0.10,2.22,13.98,0.066,10500,0.106,0.053,2866,3409,1735,1579,1892,0,0,0,0,0,0,26.29,26.00,25.98
$GC,2248,2.00,284.1,2865,3409,1582,1892,6.7,16.1,297,2261,0.12,2.25,3.65,0.055,13318,0.168,0.045,2845,2005,1702,1548,1857,0,0,0,0,0,0,25.84,26.08,26.04
$STATE,2266,end climb,SURFACE_DEPTH_REACHED
$STATE,2266,begin surface coast
$FINISH,1.4,1.021465
$STATE,2277,end surface coast,CONTROL_FINISHED_OK
$STATE,2278,begin surface
$SM_CCo,2299,6.12,0.050,0,0,1638,300.00
$SM_GC,3.28,7.43,0.15,6.12,0.047,0.087,0.050,94,1901,1638,-10.58,0.48,300.00,0,0,0,0,0,0,26.00,26.23,26.08
$IRIDIUM_FIX,4700.70,-12222.19,220921,080521
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.00
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.50
$XPDR_PINGS,9
$SC_FREEKB,3957536
$24V_AH,24.35,11.011
$10V_AH,9.64,6.521
$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,18.550,27.875,358.125,6.125,0.000,0.000,0.000,178.950,3.750,0.000,14.749,620.097,761.357,422.493,656.163,210.863,33.273,909.890,0.000,465.074,0.000,10.510,0.000
$DEVICE_MAMPS,257.805,87.210,579.870,49.725,0.000,0.000,0.000,117.810,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2287.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.226,0.000,0.000,0.000
$MEM,203692
$DATA_FILE_SIZE,10128,301
$CAP_FILE_SIZE,51843,0
$CFSIZE,260034560,245243904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2868.95,0x239dd2,7,5
$CURRENT,0.105,352.1,1
$GPS,190714,230335,4725.810,-12221.923,13,1.0,29,18.1