version: 66.12
glider: 124
mission: 17
dive: 207
start: 7 21 114 10 16 47
data:
$ID,124
$MISSION,17
$DIVE,207
$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,-309425.44
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,210714,101001,4726.235,-12222.712,12,1.2,12,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-68.9
$GPS2,210714,101542,4726.248,-12222.763,11,1.7,16,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.023,-0.303
$KALMAN_X,-13425.8,-126.0,173.6,11215.7,78.0
$KALMAN_Y,14424.5,-29.7,-287.1,-10946.3,110.4
$MHEAD_RNG_PITCHd_Wd,141.1,589,-25.0,-16.667,-28.75,1541
$D_GRID,178
$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,-180.8,91,1913,1536,1754,0.0,0.0,0,93,0.00,0.00,-69.75,0.000,16386,0.000,0.000,91,1915,2802,2824,2781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.69,-180.8,91,1914,2824,2782,3.1,-1.9,7,140,8.55,2.22,-25.55,0.000,18948,0.256,0.068,2039,510,3601,3673,3530,0,0,0,0,0,0,25.26,26.00,26.58
$GC,318,-1.60,-180.8,2038,510,3674,3531,51.6,-23.2,49,325,0.10,2.25,0.00,0.000,3078,0.200,0.044,2061,1934,3602,3674,3531,0,0,0,0,0,0,25.89,26.15,28.83
$GC,514,-1.60,-180.8,2061,1934,3673,3531,90.6,-18.6,69,520,0.00,2.17,0.00,0.000,260,0.000,0.054,2061,3329,3602,3673,3531,0,0,0,0,0,0,28.83,26.11,28.83
$GC,539,-1.60,-180.8,2061,3328,3672,3531,95.1,-18.2,73,545,0.00,2.25,0.00,0.000,1030,0.000,0.047,2061,1917,3602,3673,3531,0,0,0,0,0,0,28.83,26.22,28.83
$GC,736,-1.60,-180.8,2061,1917,3672,3530,131.8,-19.3,93,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,1917,3601,3672,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,924,-1.60,-180.8,2061,1917,3672,3531,167.4,-18.5,112,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,1917,3601,3672,3531,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,981,begin apogee
$GC,990,-0.47,0.0,2061,2010,3672,3531,178.4,-18.4,118,1145,0.77,0.00,143.57,0.580,10246,0.136,0.000,2307,2010,2858,2765,2951,0,0,0,0,0,0,25.72,28.83,24.44
$STATE,1147,end apogee,CONTROL_FINISHED_OK
$STATE,1147,begin climb
$GC,1150,1.69,180.8,2306,2010,2764,2951,189.5,0.0,134,1306,1.38,0.00,146.38,0.555,10502,0.084,0.000,2776,2010,2120,1945,2296,0,0,0,0,0,0,25.31,28.83,24.35
$GC,1486,1.82,235.9,2775,2010,1947,2293,157.7,13.0,169,1538,0.10,2.33,45.40,0.536,10500,0.100,0.051,2822,3409,1897,1722,2072,0,0,0,0,0,0,26.03,25.51,24.62
$GC,1574,1.82,235.9,2822,3408,1728,2071,143.0,19.7,185,1581,0.12,2.30,0.00,0.000,5126,0.164,0.044,2803,1996,1899,1728,2071,0,0,0,0,0,0,25.47,25.66,28.83
$GC,1770,1.82,235.9,2802,1996,1730,2071,107.0,17.7,205,1776,0.00,2.22,0.00,0.000,516,0.000,0.055,2811,583,1900,1730,2071,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1800,1.82,235.9,2811,583,1730,2071,101.6,17.6,210,1806,0.00,2.25,0.00,0.000,1030,0.000,0.042,2811,2003,1900,1730,2071,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1985,1.82,235.9,2811,2003,1730,2071,67.3,17.7,229,1991,0.00,2.20,0.00,0.000,260,0.000,0.052,2811,3414,1900,1730,2071,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2030,1.89,294.2,2810,3414,1732,2069,60.6,12.8,237,2087,0.00,2.25,48.85,0.499,9222,0.000,0.044,2821,1997,1659,1498,1821,0,0,0,0,0,0,28.83,26.15,24.93
$GC,2276,1.99,294.2,2820,1998,1505,1821,18.7,16.9,267,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1998,1663,1505,1821,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2373,end climb,SURFACE_DEPTH_REACHED
$STATE,2373,begin surface coast
$FINISH,0.8,1.021197
$STATE,2384,end surface coast,CONTROL_FINISHED_OK
$STATE,2385,begin surface
$SM_CCo,2408,2.10,0.050,0,0,1638,300.00
$SM_GC,3.01,7.35,0.12,2.10,0.047,0.098,0.050,96,1914,1638,-10.58,0.76,300.00,0,0,0,0,0,0,25.98,26.27,26.10
$IRIDIUM_FIX,4713.38,-12226.32,230921,195812
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.51
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.40
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,171.1,25.9
$SC_FREEKB,3940256
$24V_AH,24.35,13.813
$10V_AH,9.75,8.179
$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,18.375,22.775,384.200,2.100,0.000,0.000,0.000,167.975,4.750,0.000,17.195,587.234,898.655,444.728,621.429,216.784,33.287,904.471,0.000,435.544,0.000,19.115,0.000
$DEVICE_MAMPS,256.275,97.920,579.870,49.725,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2396.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.130,0.000,0.000,0.000
$MEM,203736
$DATA_FILE_SIZE,10141,278
$CAP_FILE_SIZE,50902,0
$CFSIZE,260034560,243662848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2854.96,0x239dd2,7,5
$CURRENT,0.154,305.9,1
$GPS,210714,105815,4726.015,-12222.813,12,2.1,32,18.1