version: 66.12
glider: 124
mission: 17
dive: 173
start: 7 20 114 7 13 9
data:
$ID,124
$MISSION,17
$DIVE,173
$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,-309270.75
$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,33
$R_STBD_OVSHOOT,36
$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
$GPS1,200714,070512,4726.361,-12222.453,8,1.6,8,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-67.4
$GPS2,200714,071204,4726.410,-12222.477,10,2.5,30,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.042,-0.301
$KALMAN_X,-13143.2,212.3,350.6,10777.5,-134.6
$KALMAN_Y,15042.7,-150.0,-274.8,-11155.4,21.6
$MHEAD_RNG_PITCHd_Wd,177.3,946,-25.0,-16.667,-28.75,1541
$D_GRID,171
$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,-180.8,90,1927,1532,1744,0.0,0.0,0,94,0.00,0.00,-70.20,0.000,16386,0.000,0.000,90,1927,2783,2804,2763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-1.69,-180.8,90,1927,2805,2763,3.0,-1.9,7,139,8.68,2.30,-24.70,0.000,18948,0.262,0.067,2036,508,3599,3669,3530,0,0,0,0,0,0,25.26,25.96,26.53
$GC,225,-1.51,-180.8,2036,508,3671,3532,30.8,-26.2,30,233,0.17,2.25,0.00,0.000,3078,0.184,0.044,2080,1912,3601,3671,3532,0,0,0,0,0,0,25.66,26.08,28.83
$GC,411,-1.51,-180.8,2080,1912,3670,3532,69.1,-18.4,49,417,0.00,2.22,0.00,0.000,260,0.000,0.055,2080,3330,3601,3670,3532,0,0,0,0,0,0,28.83,26.05,28.83
$GC,504,-1.51,-180.8,2080,3330,3670,3533,83.8,-16.0,66,510,0.00,2.25,0.00,0.000,1030,0.000,0.046,2080,1918,3601,3670,3532,0,0,0,0,0,0,28.83,26.19,28.83
$GC,690,-1.51,-180.8,2080,1918,3669,3533,114.6,-16.0,85,696,0.00,2.20,0.00,0.000,516,0.000,0.056,2081,506,3601,3670,3532,0,0,0,0,0,0,28.83,26.14,28.83
$GC,769,-1.51,-180.8,2080,505,3669,3532,128.7,-17.3,100,776,0.00,2.25,0.00,0.000,1030,0.000,0.044,2081,1935,3601,3670,3532,0,0,0,0,0,0,28.83,26.25,28.83
$GC,955,-1.51,-180.8,2080,1935,3669,3533,159.1,-15.4,119,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,1935,3601,3669,3533,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1034,begin apogee
$GC,1042,-0.47,0.0,2080,2008,3668,3533,171.2,-15.4,127,1197,0.70,0.00,143.50,0.578,10246,0.132,0.000,2305,2008,2857,2764,2951,0,0,0,0,0,0,25.76,28.83,24.46
$STATE,1198,end apogee,CONTROL_FINISHED_OK
$STATE,1198,begin climb
$GC,1202,1.69,180.8,2305,2008,2763,2951,178.6,0.0,143,1356,1.40,2.30,144.88,0.551,10500,0.089,0.053,2776,3406,2120,1945,2295,0,0,0,0,0,0,25.27,25.13,24.36
$GC,1380,1.71,202.7,2776,3406,1945,2292,162.4,15.2,177,1409,0.00,2.33,18.77,0.522,9222,0.000,0.045,2786,1993,2031,1854,2208,0,0,0,0,0,0,28.83,25.38,24.45
$GC,1588,1.74,227.7,2786,1993,1854,2203,129.8,15.0,200,1616,0.00,0.00,21.05,0.522,8198,0.000,0.000,2786,1993,1930,1757,2104,0,0,0,0,0,0,28.83,28.83,24.77
$GC,1798,1.82,237.4,2786,1995,1759,2102,97.0,16.0,221,1815,0.00,2.28,9.07,0.487,8708,0.000,0.057,2793,597,1891,1721,2061,0,0,0,0,0,0,28.83,25.91,24.89
$GC,1877,1.93,257.0,2793,597,1722,2061,85.1,15.4,235,1904,0.12,2.22,17.60,0.506,11270,0.086,0.044,2848,1999,1811,1645,1977,0,0,0,0,0,0,26.01,26.00,24.93
$GC,2093,1.93,257.0,2848,2000,1646,1976,42.7,18.3,259,2098,0.00,2.20,0.00,0.000,260,0.000,0.053,2848,3406,1810,1646,1975,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2200,1.93,257.0,2848,3406,1650,1971,22.8,20.2,279,2206,0.12,2.25,0.00,0.000,5126,0.161,0.046,2827,1999,1810,1650,1971,0,0,0,0,0,0,25.89,26.11,28.83
$STATE,2324,end climb,SURFACE_DEPTH_REACHED
$STATE,2324,begin surface coast
$FINISH,0.8,1.009793
$STATE,2343,end surface coast,CONTROL_FINISHED_OK
$STATE,2343,begin surface
$SM_CCo,2363,16.77,0.049,0,0,1639,300.00
$SM_GC,2.58,7.35,0.12,16.77,0.047,0.094,0.049,95,1916,1639,-10.58,0.79,300.00,0,0,0,0,0,0,26.09,26.37,26.16
$IRIDIUM_FIX,4703.87,-12221.20,220921,165628
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.26
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.50
$XPDR_PINGS,12
$SC_FREEKB,3953312
$24V_AH,24.36,11.696
$10V_AH,9.60,6.931
$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,18.550,27.325,354.875,16.775,0.000,0.000,0.000,227.250,4.500,0.000,31.563,609.608,843.022,432.952,691.627,233.046,33.272,969.462,0.000,452.327,0.000,10.499,0.000
$DEVICE_MAMPS,261.630,160.650,578.340,48.960,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2351.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.211,0.000,0.000,0.000
$MEM,204036
$DATA_FILE_SIZE,10113,294
$CAP_FILE_SIZE,53240,0
$CFSIZE,260034560,244846592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084,313.8,1
$GPS,200714,075348,4726.169,-12222.711,13,1.6,13,18.1