version: 66.12
glider: 124
mission: 17
dive: 223
start: 7 22 114 3 16 39
data:
$ID,124
$MISSION,17
$DIVE,223
$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,4
$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,-310282.34
$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,30
$R_STBD_OVSHOOT,25
$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,48
$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
$GPS1,220714,031200,4726.167,-12223.362,14,1.6,31,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-68.9
$GPS2,220714,031535,4726.183,-12223.399,17,1.5,32,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.259,-0.159
$KALMAN_X,-14584.5,-75.2,-79.1,11771.0,-56.5
$KALMAN_Y,19571.4,730.1,-394.2,-16863.1,63.8
$MHEAD_RNG_PITCHd_Wd,96.3,954,-25.0,-16.667,-28.75,1541
$D_GRID,199
$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,18,begin dive
$GC,21,-1.69,-180.8,96,1913,1552,1729,0.0,0.0,0,103,0.00,0.00,-79.57,0.000,16386,0.000,0.000,96,1914,3054,3118,2990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,95,1914,3118,2991,3.8,-3.3,8,135,8.80,2.33,-11.98,0.000,18692,0.264,0.066,2039,3339,3600,3677,3524,0,0,0,0,0,0,25.22,25.68,26.68
$GC,366,-1.69,-180.8,2039,3339,3676,3526,60.6,-19.0,58,373,0.00,2.25,0.00,0.000,1030,0.000,0.045,2040,1918,3601,3677,3526,0,0,0,0,0,0,28.83,26.19,28.83
$GC,561,-1.69,-180.8,2039,1918,3674,3527,99.6,-18.6,78,567,0.00,2.28,0.00,0.000,260,0.000,0.054,2040,3340,3600,3674,3526,0,0,0,0,0,0,28.83,26.14,28.83
$GC,673,-1.69,-180.8,2040,3340,3673,3526,119.3,-17.3,99,680,0.00,2.25,0.00,0.000,1030,0.000,0.045,2040,1916,3599,3673,3526,0,0,0,0,0,0,28.83,26.27,28.83
$GC,859,-1.69,-180.8,2040,1917,3670,3527,153.6,-19.2,118,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1916,3598,3671,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1040,-1.69,-180.8,2040,1916,3670,3527,187.6,-17.6,136,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,1917,3597,3669,3526,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1111,begin apogee
$GC,1120,-0.47,0.0,2040,2009,3669,3526,200.1,-18.0,143,1272,0.85,0.00,139.30,0.602,10246,0.139,0.000,2307,2010,2859,2769,2949,0,0,0,0,0,0,25.63,28.83,24.48
$STATE,1274,end apogee,CONTROL_FINISHED_OK
$STATE,1274,begin climb
$GC,1277,1.69,180.8,2307,2010,2769,2949,207.6,0.0,159,1424,1.35,0.00,141.43,0.570,10502,0.077,0.000,2776,2046,2124,1965,2283,0,0,0,0,0,0,25.38,28.83,24.39
$GC,1603,1.71,200.8,2776,2046,1962,2275,170.4,15.3,201,1625,0.00,2.30,16.50,0.539,8452,0.000,0.050,2776,3410,2039,1884,2195,0,0,0,0,0,0,28.83,25.77,24.78
$GC,1663,1.71,202.7,2776,3410,1882,2192,160.8,16.5,212,1670,0.00,2.28,0.00,0.000,1030,0.000,0.044,2786,1991,2038,1884,2192,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1850,1.74,227.9,2786,1991,1884,2191,131.5,15.0,231,1878,0.00,0.00,22.52,0.534,8710,0.000,0.000,2786,1991,1929,1776,2083,0,0,0,0,0,0,28.83,28.83,24.96
$GC,2060,1.83,236.7,2786,1991,1776,2082,97.8,16.1,253,2070,0.00,0.00,8.15,0.486,8198,0.000,0.000,2786,1991,1896,1742,2051,0,0,0,0,0,0,28.83,28.83,24.98
$GC,2250,1.95,256.8,2786,1991,1741,2045,69.3,15.3,272,2270,0.15,0.00,17.23,0.510,10246,0.076,0.000,2853,1990,1814,1664,1965,0,0,0,0,0,0,26.39,28.83,25.09
$GC,2449,1.95,256.8,2853,1991,1670,1960,32.8,17.3,292,2454,0.00,2.17,0.00,0.000,516,0.000,0.054,2862,595,1815,1670,1960,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2483,1.95,256.8,2862,595,1671,1960,26.8,17.6,298,2490,0.12,2.22,0.00,0.000,5126,0.145,0.042,2829,2007,1815,1671,1960,0,0,0,0,0,0,25.99,26.20,28.83
$STATE,2635,end climb,SURFACE_DEPTH_REACHED
$STATE,2635,begin surface coast
$FINISH,0.6,1.010288
$STATE,2657,end surface coast,CONTROL_FINISHED_OK
$STATE,2657,begin surface
$SM_CCo,2677,17.17,0.050,0,0,1639,300.00
$SM_GC,2.71,7.32,0.20,17.17,0.046,0.070,0.050,93,1912,1639,-10.59,0.71,300.00,0,0,0,0,0,0,26.12,26.42,26.21
$IRIDIUM_FIX,4710.21,-12224.61,240921,134234
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.43
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,19.60
$XPDR_PINGS,36
$SC_FREEKB,3934112
$24V_AH,24.39,14.986
$10V_AH,9.55,8.931
$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,18.600,18.475,345.125,17.175,0.000,0.000,0.000,0.000,11.750,0.000,33.635,682.808,1052.061,411.211,534.404,118.487,33.278,717.911,0.000,482.192,0.000,20.890,0.000
$DEVICE_MAMPS,263.925,69.615,602.055,49.725,0.000,0.000,0.000,0.000,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2637.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.661,0.000,0.000,0.000
$MEM,203728
$DATA_FILE_SIZE,10131,316
$CAP_FILE_SIZE,69749,0
$CFSIZE,260034560,243052544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4292.51,0x239dd2,7,5
$CURRENT,0.027,122.4,1
$GPS,220714,040231,4725.968,-12222.862,11,1.5,11,18.1