version: 66.12
glider: 124
mission: 17
dive: 210
start: 7 21 114 12 48 25
data:
$ID,124
$MISSION,17
$DIVE,210
$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,-309429.19
$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,27
$R_STBD_OVSHOOT,30
$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
$GPS1,210714,124148,4725.893,-12222.555,9,1.8,14,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-68.4
$GPS2,210714,124719,4725.920,-12222.565,16,2.0,16,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.105,-0.269
$KALMAN_X,-13801.5,-147.3,184.2,11844.6,-132.6
$KALMAN_Y,14955.5,98.9,-11.1,-12487.5,224.2
$MHEAD_RNG_PITCHd_Wd,240.7,215,-26.4,-16.667,-30.00,1390
$D_GRID,173
$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,-161.4,95,1913,1528,1764,0.0,0.0,0,94,0.00,0.00,-70.38,0.000,16386,0.000,0.000,95,1913,2821,2849,2793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.77,-180.8,95,1913,2849,2794,3.1,-1.6,7,141,8.48,2.28,-24.25,0.000,18948,0.257,0.067,2023,504,3600,3676,3525,0,0,0,0,0,0,25.28,26.03,26.63
$GC,298,-1.68,-180.8,2022,504,3676,3526,49.5,-23.8,45,305,0.10,2.25,0.00,0.000,3078,0.210,0.044,2045,1930,3601,3677,3526,0,0,0,0,0,0,25.88,26.15,28.83
$GC,494,-1.68,-180.8,2045,1930,3675,3526,92.3,-20.6,65,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,1930,3600,3675,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,673,-1.68,-180.8,2045,1930,3674,3526,125.9,-19.0,83,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,1931,3600,3675,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,854,-1.68,-180.8,2045,1931,3674,3526,158.7,-18.4,101,860,0.00,2.17,0.00,0.000,260,0.000,0.054,2045,3332,3601,3674,3528,0,0,0,0,0,0,28.83,26.20,28.83
$GC,913,-1.68,-180.8,2044,3332,3674,3526,169.8,-19.1,112,919,0.00,2.25,0.00,0.000,1030,0.000,0.045,2044,1914,3600,3674,3526,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,935,begin apogee
$GC,943,-0.47,0.0,2044,2009,3674,3526,174.5,-18.6,115,1099,0.85,0.00,143.43,0.577,10246,0.141,0.000,2304,2009,2858,2769,2947,0,0,0,0,0,0,25.67,28.83,24.44
$STATE,1101,end apogee,CONTROL_FINISHED_OK
$STATE,1101,begin climb
$GC,1104,1.77,180.8,2305,2009,2769,2947,184.7,0.0,131,1260,1.48,0.00,145.98,0.550,10502,0.096,0.000,2796,2009,2119,1945,2294,0,0,0,0,0,0,25.27,28.83,24.36
$GC,1440,1.87,201.0,2796,2009,1949,2294,144.5,15.2,173,1466,0.00,2.30,17.52,0.515,8452,0.000,0.051,2796,3404,2037,1864,2210,0,0,0,0,0,0,28.83,25.71,24.75
$GC,1532,1.87,201.0,2796,3405,1865,2208,129.2,16.7,190,1539,0.00,2.28,0.00,0.000,1030,0.000,0.044,2804,1990,2036,1865,2208,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1719,1.93,201.9,2804,1990,1865,2207,98.7,16.6,209,1726,0.10,2.20,0.00,0.000,2564,0.099,0.052,2858,593,2036,1865,2207,0,0,0,0,0,0,26.28,25.98,28.83
$GC,1739,1.93,201.9,2858,593,1866,2207,94.8,18.2,212,1746,0.12,2.22,0.00,0.000,5126,0.151,0.042,2827,1995,2036,1866,2207,0,0,0,0,0,0,25.86,26.08,28.83
$GC,1926,1.95,213.3,2827,1995,1866,2206,64.2,15.8,231,1943,0.00,0.00,10.82,0.480,8198,0.000,0.000,2826,1995,1988,1820,2157,0,0,0,0,0,0,28.83,28.83,25.03
$GC,2126,2.03,225.5,2826,1995,1825,2157,31.3,15.8,251,2142,0.10,2.28,7.38,0.446,10500,0.101,0.053,2869,3412,1938,1771,2106,0,0,0,0,0,0,26.44,26.15,25.05
$GC,2167,2.03,225.5,2869,3411,1772,2106,24.5,17.5,258,2174,0.12,2.25,0.00,0.000,5126,0.160,0.044,2848,1987,1939,1773,2106,0,0,0,0,0,0,25.94,26.17,28.83
$STATE,2300,end climb,SURFACE_DEPTH_REACHED
$STATE,2300,begin surface coast
$FINISH,1.4,1.021320
$STATE,2311,end surface coast,CONTROL_FINISHED_OK
$STATE,2311,begin surface
$SM_CCo,2332,29.55,0.050,0,0,1638,300.00
$SM_GC,1.30,7.40,0.10,29.55,0.047,0.109,0.050,93,1916,1638,-10.59,0.90,300.00,0,0,0,0,0,0,26.07,26.44,26.19
$IRIDIUM_FIX,4707.04,-12222.91,230921,223123
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.79
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,151.4,39.1
$SC_FREEKB,3939104
$24V_AH,24.36,14.010
$10V_AH,9.48,8.294
$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,18.750,22.775,325.125,29.550,0.000,0.000,0.000,157.650,4.500,0.000,17.176,590.757,878.525,426.556,599.710,215.308,33.272,871.446,0.000,433.537,0.000,13.165,0.000
$DEVICE_MAMPS,257.040,109.395,576.810,49.725,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2322.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.044,0.000,0.000,0.000
$MEM,203692
$DATA_FILE_SIZE,10131,273
$CAP_FILE_SIZE,51484,0
$CFSIZE,260034560,243556352
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2666.40,0x213b1c,7,24
$INTR,1,2772.39,0x239dd2,7,5
$CURRENT,0.107,326.5,1
$GPS,210714,132842,4725.957,-12223.163,9,2.0,9,18.1