version: 66.12
glider: 124
mission: 17
dive: 178
start: 7 20 114 11 15 1
data:
$ID,124
$MISSION,17
$DIVE,178
$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,-309277
$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,31
$R_STBD_OVSHOOT,34
$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
$GPS1,200714,110819,4725.774,-12222.450,14,1.7,14,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-67.4
$GPS2,200714,111355,4725.852,-12222.513,13,1.6,13,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.196,-0.232
$KALMAN_X,-13738.9,43.0,-112.2,11958.0,-194.2
$KALMAN_Y,16054.8,-14.3,73.6,-13685.6,252.4
$MHEAD_RNG_PITCHd_Wd,118.2,1066,-25.0,-16.667,-28.75,1541
$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,-1.69,-180.8,91,1919,1524,1755,0.0,0.0,0,93,0.00,0.00,-69.93,0.000,16386,0.000,0.000,92,1919,2810,2833,2787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.69,-180.8,91,1919,2833,2788,3.2,-1.6,7,141,8.50,2.38,-24.83,0.000,18692,0.255,0.070,2036,3327,3601,3670,3532,0,0,0,0,0,0,25.29,25.98,26.60
$GC,186,-1.59,-180.8,2036,3327,3671,3533,17.9,-22.1,23,192,0.12,2.28,0.00,0.000,3078,0.183,0.047,2066,1914,3602,3671,3533,0,0,0,0,0,0,25.79,26.09,28.83
$GC,381,-1.59,-180.8,2066,1915,3670,3533,58.9,-19.5,43,386,0.00,2.22,0.00,0.000,516,0.000,0.056,2067,499,3602,3670,3534,0,0,0,0,0,0,28.83,26.08,28.83
$GC,409,-1.59,-180.8,2066,500,3670,3533,64.7,-20.7,48,415,0.00,2.25,0.00,0.000,1030,0.000,0.045,2066,1915,3601,3669,3533,0,0,0,0,0,0,28.83,26.16,28.83
$GC,595,-1.59,-180.8,2066,1916,3669,3534,97.7,-17.5,67,600,0.00,2.22,0.00,0.000,260,0.000,0.056,2066,3336,3601,3669,3533,0,0,0,0,0,0,28.83,26.10,28.83
$GC,654,-1.59,-180.8,2066,3336,3670,3534,108.0,-16.0,78,661,0.00,2.28,0.00,0.000,1030,0.000,0.047,2067,1913,3601,3669,3533,0,0,0,0,0,0,28.83,26.23,28.83
$GC,841,-1.59,-180.8,2066,1913,3669,3533,138.7,-15.9,97,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,1912,3601,3669,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1021,-1.59,-180.8,2065,1913,3669,3533,168.4,-16.5,115,1027,0.00,2.20,0.00,0.000,516,0.000,0.055,2067,495,3601,3669,3533,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,1037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1037,begin apogee
$GC,1047,-0.47,0.0,2066,2005,3669,3533,172.0,-17.3,118,1196,0.75,0.00,142.00,0.581,10246,0.140,0.000,2302,2005,2860,2766,2954,0,0,0,0,0,0,25.69,28.83,24.46
$STATE,1198,end apogee,CONTROL_FINISHED_OK
$STATE,1198,begin climb
$GC,1201,1.69,180.8,2302,2005,2763,2953,181.2,0.0,133,1358,1.42,2.35,145.93,0.558,10500,0.091,0.053,2780,3409,2120,1945,2296,0,0,0,0,0,0,25.26,25.12,24.35
$GC,1430,1.69,180.8,2779,3408,1945,2290,157.2,16.8,173,1436,0.00,2.33,0.00,0.000,1030,0.000,0.044,2790,1983,2117,1945,2290,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1624,1.69,186.6,2790,1983,1945,2285,126.2,16.3,193,1636,0.00,2.22,3.58,0.386,8708,0.000,0.054,2798,594,2102,1933,2271,0,0,0,0,0,0,28.83,25.90,24.62
$GC,1691,1.69,187.2,2798,594,1938,2272,115.5,16.6,205,1697,0.00,2.28,0.00,0.000,1030,0.000,0.042,2797,2011,2105,1938,2272,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1886,1.73,213.7,2796,2011,1937,2271,84.2,14.9,225,1917,0.00,0.00,25.30,0.512,8454,0.000,0.000,2798,2011,1988,1819,2157,0,0,0,0,0,0,28.83,28.83,25.05
$GC,2096,1.81,228.1,2798,2011,1819,2153,51.2,15.7,249,2118,0.00,2.28,12.95,0.485,8452,0.000,0.054,2798,3410,1929,1761,2098,0,0,0,0,0,0,28.83,25.98,25.05
$GC,2190,1.82,231.6,2798,3410,1762,2098,35.9,16.4,266,2199,0.00,2.28,3.17,0.343,9222,0.000,0.044,2808,1984,1917,1751,2084,0,0,0,0,0,0,28.83,26.04,24.72
$GC,2378,1.95,273.1,2808,1984,1753,2084,9.2,13.9,285,2405,0.10,2.28,17.62,0.057,10756,0.102,0.056,2863,590,1748,1588,1909,0,0,0,0,0,0,26.39,26.04,26.08
$STATE,2411,end climb,SURFACE_DEPTH_REACHED
$STATE,2411,begin surface coast
$FINISH,0.9,1.010190
$STATE,2425,end surface coast,CONTROL_FINISHED_OK
$STATE,2425,begin surface
$SM_CCo,2448,10.98,0.050,0,0,1638,300.00
$SM_GC,2.85,7.50,2.17,10.98,0.049,0.044,0.050,92,1925,1638,-10.60,-0.88,300.00,0,0,0,0,0,0,25.98,26.12,26.11
$IRIDIUM_FIX,4716.56,-12225.34,220921,205539
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.31
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.40
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,130.4,58.4
$SC_FREEKB,3951392
$24V_AH,24.35,12.000
$10V_AH,9.74,7.117
$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,18.400,36.525,350.550,10.975,0.000,0.000,0.000,166.400,3.250,0.000,14.350,620.008,913.012,424.166,632.899,222.243,33.286,900.554,0.000,457.371,0.000,7.159,0.000
$DEVICE_MAMPS,254.745,131.580,580.635,49.725,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2434.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.408,0.000,0.000,0.000
$MEM,203692
$DATA_FILE_SIZE,10145,293
$CAP_FILE_SIZE,54556,0
$CFSIZE,260034560,244658176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,323.9,1
$GPS,200714,115655,4725.742,-12222.307,9,2.0,9,18.1