version: 66.12
glider: 124
mission: 17
dive: 163
start: 7 19 114 23 10 6
data:
$ID,124
$MISSION,17
$DIVE,163
$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,-309258.25
$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,32
$R_STBD_OVSHOOT,35
$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
$GPS1,190714,230335,4725.810,-12221.923,13,1.0,29,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-61.5
$GPS2,190714,230901,4725.861,-12221.894,12,1.8,12,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.031,-0.302
$KALMAN_X,-13860.9,36.9,-185.8,12931.6,-92.2
$KALMAN_Y,15579.5,44.0,100.9,-13275.8,127.3
$MHEAD_RNG_PITCHd_Wd,161.5,800,-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,-180.8,94,1900,1532,1744,0.0,0.0,0,103,0.00,0.00,-80.03,0.000,16386,0.000,0.000,94,1900,2987,3034,2940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,94,1900,3034,2942,3.8,-2.6,8,141,8.55,2.35,-15.32,0.000,18692,0.257,0.070,2037,3322,3602,3673,3531,0,0,0,0,0,0,25.27,25.98,26.58
$GC,296,-1.61,-180.8,2036,3321,3673,3533,48.0,-24.0,44,302,0.10,2.25,0.00,0.000,3078,0.181,0.046,2061,1915,3603,3674,3533,0,0,0,0,0,0,25.91,26.13,28.83
$GC,492,-1.61,-180.8,2060,1915,3673,3533,86.2,-18.1,64,497,0.00,2.28,0.00,0.000,260,0.000,0.054,2060,3322,3603,3673,3533,0,0,0,0,0,0,28.83,26.10,28.83
$GC,520,-1.61,-180.8,2061,3322,3673,3533,91.9,-20.5,69,528,0.00,2.25,0.00,0.000,1030,0.000,0.046,2061,1914,3603,3673,3533,0,0,0,0,0,0,28.83,26.20,28.83
$GC,707,-1.61,-180.8,2061,1914,3673,3533,125.2,-18.3,88,712,0.00,2.20,0.00,0.000,516,0.000,0.055,2061,508,3602,3672,3533,0,0,0,0,0,0,28.83,26.16,28.83
$GC,790,-1.61,-180.8,2061,508,3672,3533,140.1,-19.8,102,796,0.00,2.22,0.00,0.000,1030,0.000,0.044,2061,1918,3602,3672,3533,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,951,begin apogee
$GC,959,-0.47,0.0,2061,2008,3672,3533,171.8,-17.8,119,1108,0.77,0.00,141.93,0.578,10246,0.138,0.000,2307,2008,2860,2769,2952,0,0,0,0,0,0,25.71,28.83,24.46
$STATE,1110,end apogee,CONTROL_FINISHED_OK
$STATE,1110,begin climb
$GC,1113,1.69,180.8,2306,2008,2766,2951,179.3,0.0,134,1269,1.38,2.38,146.38,0.553,10500,0.081,0.051,2776,3410,2121,1948,2294,0,0,0,0,0,0,25.27,25.11,24.35
$GC,1297,1.69,180.8,2776,3410,1948,2290,163.5,17.1,165,1304,0.00,2.33,0.00,0.000,1030,0.000,0.044,2786,1999,2118,1947,2290,0,0,0,0,0,0,28.83,25.38,28.83
$GC,1483,1.73,218.0,2786,1999,1948,2283,135.9,14.2,184,1521,0.00,0.00,31.50,0.527,8198,0.000,0.000,2786,1999,1969,1799,2140,0,0,0,0,0,0,28.83,28.83,24.75
$GC,1703,1.73,218.0,2786,1999,1800,2134,100.6,16.8,206,1709,0.00,2.28,0.00,0.000,260,0.000,0.051,2786,3405,1966,1799,2134,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1738,1.73,218.0,2786,3406,1799,2131,94.4,17.6,212,1743,0.00,2.28,0.00,0.000,1030,0.000,0.046,2795,1986,1965,1799,2132,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1933,1.78,261.5,2795,1987,1799,2131,64.6,13.8,232,1974,0.00,2.30,35.92,0.503,8708,0.000,0.055,2798,591,1793,1628,1958,0,0,0,0,0,0,28.83,25.82,25.02
$GC,2001,1.87,267.6,2798,591,1629,1956,54.4,16.3,244,2014,0.00,2.25,6.53,0.444,9222,0.000,0.041,2798,2004,1767,1607,1928,0,0,0,0,0,0,28.83,25.91,24.93
$GC,2194,2.01,290.2,2798,2005,1607,1925,23.4,15.2,264,2216,0.12,2.30,14.80,0.464,10756,0.088,0.052,2867,597,1674,1520,1829,0,0,0,0,0,0,26.23,25.92,25.03
$GC,2240,2.01,290.2,2867,597,1519,1828,14.7,19.8,272,2246,0.00,2.25,0.00,0.000,1030,0.000,0.043,2867,2005,1673,1519,1828,0,0,0,0,0,0,28.83,25.99,28.83
$STATE,2292,end climb,SURFACE_DEPTH_REACHED
$STATE,2292,begin surface coast
$FINISH,0.9,1.021289
$STATE,2302,end surface coast,CONTROL_FINISHED_OK
$STATE,2302,begin surface
$SM_CCo,2324,3.25,0.049,0,0,1639,300.00
$SM_GC,2.87,7.50,0.20,3.25,0.046,0.070,0.049,91,1912,1639,-10.60,0.74,300.00,0,0,0,0,0,0,25.93,26.14,26.03
$IRIDIUM_FIX,4703.87,-12221.20,220921,085314
$TT8_MAMPS,0.029211,0.029211
$HUMID,65.12
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,161.1,24.7
$SC_FREEKB,3957152
$24V_AH,24.35,11.076
$10V_AH,9.50,6.557
$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,18.425,32.225,377.050,3.250,0.000,0.000,0.000,159.825,4.500,0.000,13.481,586.688,829.931,432.920,608.570,212.233,33.288,894.645,0.000,438.443,0.000,17.581,0.000
$DEVICE_MAMPS,257.040,91.035,577.575,48.960,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2310.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.375,0.000,0.000,0.000
$MEM,203676
$DATA_FILE_SIZE,10148,279
$CAP_FILE_SIZE,52305,0
$CFSIZE,260034560,245202944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2769.01,0x239dd2,7,5
$CURRENT,0.051,339.6,1
$GPS,190714,235006,4725.578,-12221.943,10,2.0,27,18.1