version: 66.12
glider: 124
mission: 17
dive: 206
start: 7 21 114 9 29 11
data:
$ID,124
$MISSION,17
$DIVE,206
$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,-309424.19
$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,32
$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
$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
$GPS1,210714,092148,4725.802,-12222.822,16,1.9,33,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-68.3
$GPS2,210714,092805,4725.809,-12222.846,17,1.4,33,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.077,0.278
$KALMAN_X,-13345.0,-104.5,107.1,11071.8,89.8
$KALMAN_Y,14283.7,-69.5,-305.5,-11555.9,46.6
$MHEAD_RNG_PITCHd_Wd,27.2,263,-26.4,-16.667,-30.00,1390
$D_GRID,176
$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,-161.4,93,1918,1532,1744,0.0,0.0,0,103,0.00,0.00,-80.32,0.000,16386,0.000,0.000,94,1919,2987,3035,2940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.77,-180.8,93,1918,3035,2941,3.6,-2.4,8,141,8.50,2.33,-15.95,0.000,18692,0.258,0.075,2021,3333,3600,3670,3531,0,0,0,0,0,0,25.25,25.58,26.62
$GC,216,-1.67,-180.8,2020,3333,3670,3532,29.7,-26.0,28,222,0.10,2.25,0.00,0.000,3078,0.204,0.046,2043,1923,3601,3670,3533,0,0,0,0,0,0,25.85,26.12,28.83
$GC,411,-1.67,-180.8,2043,1923,3669,3533,73.9,-22.1,48,416,0.00,2.20,0.00,0.000,516,0.000,0.054,2043,510,3601,3669,3533,0,0,0,0,0,0,28.83,26.11,28.83
$GC,486,-1.67,-180.8,2043,510,3669,3533,91.0,-21.9,62,491,0.00,2.22,0.00,0.000,1030,0.000,0.044,2043,1917,3600,3669,3532,0,0,0,0,0,0,28.83,26.21,28.83
$GC,680,-1.67,-180.8,2043,1917,3669,3533,129.6,-18.7,82,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,1917,3601,3669,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,860,-1.67,-180.8,2043,1917,3668,3533,163.7,-19.3,100,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,1917,3600,3668,3533,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,927,begin apogee
$GC,935,-0.47,0.0,2043,2008,3668,3533,176.7,-18.3,107,1091,0.85,0.00,143.15,0.585,10246,0.145,0.000,2307,2008,2858,2767,2950,0,0,0,0,0,0,25.64,28.83,24.44
$STATE,1092,end apogee,CONTROL_FINISHED_OK
$STATE,1092,begin climb
$GC,1096,1.77,180.8,2306,2008,2766,2950,186.8,0.0,123,1253,1.45,2.33,145.80,0.556,10500,0.089,0.051,2798,3399,2120,1948,2293,0,0,0,0,0,0,25.29,25.14,24.34
$GC,1363,1.77,180.8,2798,3399,1952,2289,157.3,16.8,173,1370,0.00,2.28,0.00,0.000,1030,0.000,0.044,2808,1991,2119,1950,2289,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1550,1.77,183.3,2808,1991,1952,2288,127.7,16.5,192,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1991,2120,1952,2288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1731,1.79,196.4,2808,1991,1952,2286,98.3,15.7,210,1752,0.00,2.20,13.38,0.499,8708,0.000,0.052,2817,595,2057,1890,2224,0,0,0,0,0,0,28.83,26.03,25.06
$GC,1780,1.79,197.8,2817,595,1891,2222,90.2,16.6,219,1786,0.00,2.22,0.00,0.000,1030,0.000,0.042,2817,2001,2056,1891,2222,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1967,1.81,218.2,2817,2002,1890,2221,60.7,15.2,238,1992,0.00,2.28,18.58,0.499,8452,0.000,0.053,2817,3409,1968,1803,2134,0,0,0,0,0,0,28.83,26.03,25.09
$GC,2035,1.81,218.2,2817,3409,1806,2134,49.5,16.7,251,2043,0.10,2.25,0.00,0.000,5126,0.171,0.046,2804,2006,1970,1807,2133,0,0,0,0,0,0,25.88,26.04,28.83
$GC,2223,1.99,255.9,2804,2006,1808,2133,22.2,13.9,270,2259,0.12,2.30,27.02,0.477,10756,0.087,0.054,2868,593,1814,1651,1978,0,0,0,0,0,0,26.37,25.94,25.10
$GC,2311,1.99,255.9,2868,591,1653,1977,7.9,18.3,286,2317,0.10,2.25,0.00,0.000,5126,0.154,0.041,2844,2008,1814,1652,1977,0,0,0,0,0,0,25.88,26.05,28.83
$STATE,2343,end climb,SURFACE_DEPTH_REACHED
$STATE,2343,begin surface coast
$FINISH,0.8,1.010686
$STATE,2354,end surface coast,CONTROL_FINISHED_OK
$STATE,2354,begin surface
$SM_CCo,2374,17.23,0.050,0,0,1639,300.00
$SM_GC,2.22,7.45,0.20,17.23,0.047,0.070,0.050,91,1914,1639,-10.61,0.76,300.00,0,0,0,0,0,0,25.94,26.18,26.04
$IRIDIUM_FIX,4716.56,-12225.34,230921,191121
$TT8_MAMPS,0.028462,0.028462
$HUMID,64.80
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.50
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,131.2,62.3
$SC_FREEKB,3940640
$24V_AH,24.34,13.747
$10V_AH,9.66,8.143
$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,18.675,27.425,347.925,17.225,0.000,0.000,0.000,187.375,3.750,0.000,34.072,608.120,870.170,418.943,672.327,217.623,33.276,915.215,0.000,457.708,0.000,10.081,0.000
$DEVICE_MAMPS,257.805,91.800,585.225,49.725,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2363.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.302,0.000,0.000,0.000
$MEM,203688
$DATA_FILE_SIZE,10162,291
$CAP_FILE_SIZE,53011,0
$CFSIZE,260034560,243695616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2817.45,0x239dd2,7,5
$CURRENT,0.154,320.2,1
$GPS,210714,101001,4726.235,-12222.712,12,1.2,12,18.1