version: 66.12
glider: 124
mission: 17
dive: 40
start: 7 15 114 21 44 21
data:
$ID,124
$MISSION,17
$DIVE,40
$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,-307903.19
$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,28
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,300
$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
$GPS1,150714,213735,4726.266,-12222.232,14,1.5,30,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-67.5
$GPS2,150714,214313,4726.270,-12222.234,12,1.6,12,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,mooring
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.255,0.134
$KALMAN_X,-5889.3,-128.4,-388.7,4900.3,36.1
$KALMAN_Y,3624.5,204.9,557.1,-1179.9,-117.5
$MHEAD_RNG_PITCHd_Wd,268.6,464,-26.4,-16.667,-30.00,1390
$D_GRID,164
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-1.75,-161.4,90,1914,1535,1748,0.0,0.0,0,102,0.00,0.00,-79.95,0.000,16386,0.000,0.000,90,1914,2955,2986,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.77,-180.8,90,1914,2986,2925,3.4,-1.9,8,141,8.48,2.30,-18.15,0.000,18948,0.259,0.072,2022,504,3601,3668,3534,0,0,1,0,0,0,25.40,25.61,26.53
$GC,360,-1.68,-180.8,2022,504,3668,3535,60.0,-21.3,57,368,0.00,2.25,0.00,0.000,1030,0.000,0.047,2022,1912,3602,3669,3535,0,0,0,0,0,0,28.83,26.08,28.83
$GC,546,-1.68,-180.8,2022,1912,3668,3536,98.5,-22.0,76,552,0.10,2.30,0.00,0.000,2564,0.201,0.056,2047,503,3602,3669,3536,0,0,0,0,0,0,26.21,26.04,28.83
$GC,591,-1.68,-180.8,2046,503,3669,3535,108.0,-21.1,84,597,0.00,2.28,0.00,0.000,1030,0.000,0.048,2046,1931,3602,3669,3535,0,0,0,0,0,0,28.83,26.12,28.83
$GC,787,-1.68,-180.8,2046,1932,3669,3536,141.4,-15.1,104,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,1932,3602,3669,3536,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,932,begin apogee
$GC,940,-0.47,0.0,2046,2003,3668,3536,164.8,-15.7,119,1090,0.82,0.00,142.77,0.578,10246,0.142,0.000,2304,2004,2860,2756,2964,0,0,0,0,0,0,25.62,28.83,24.46
$STATE,1092,end apogee,CONTROL_FINISHED_OK
$STATE,1092,begin climb
$GC,1095,1.77,180.8,2304,2004,2753,2962,172.6,0.0,134,1254,1.48,2.45,146.77,0.551,10756,0.090,0.056,2808,595,2119,1945,2294,0,0,1,0,0,0,25.20,24.98,24.34
$GC,1267,1.79,200.5,2807,595,1946,2292,156.5,15.2,161,1289,0.00,2.33,16.62,0.516,9222,0.000,0.046,2808,1998,2043,1867,2219,0,0,0,0,0,0,28.83,25.22,24.45
$GC,1478,1.79,200.5,2807,1998,1868,2210,117.7,18.3,184,1483,0.00,2.25,0.00,0.000,260,0.000,0.057,2808,3409,2039,1868,2210,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1583,1.79,200.5,2808,3409,1870,2205,97.1,20.4,204,1589,0.00,2.30,0.00,0.000,1030,0.000,0.047,2817,1985,2037,1870,2205,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1777,1.79,200.5,2817,1985,1870,2204,61.5,17.8,224,1783,0.00,2.22,0.00,0.000,516,0.000,0.057,2828,583,2037,1870,2204,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1815,1.80,205.3,2829,583,1870,2203,55.1,16.3,231,1828,0.12,2.30,3.55,0.374,13318,0.155,0.046,2798,2008,2024,1860,2188,0,0,0,0,0,0,25.83,26.06,24.94
$GC,2017,1.94,236.4,2798,2008,1863,2188,24.5,14.4,252,2050,0.12,2.30,22.45,0.480,10500,0.090,0.056,2854,3415,1895,1735,2056,0,0,0,0,0,0,26.34,25.98,25.23
$GC,2118,1.94,236.4,2854,3416,1739,2055,8.5,17.1,270,2124,0.15,2.28,0.00,0.000,5126,0.162,0.047,2826,2000,1898,1741,2055,0,0,0,0,0,0,25.75,26.01,28.83
$STATE,2150,end climb,SURFACE_DEPTH_REACHED
$STATE,2150,begin surface coast
$FINISH,1.1,1.021390
$STATE,2160,end surface coast,CONTROL_FINISHED_OK
$STATE,2160,begin surface
$SM_CCo,2181,25.77,0.048,0,0,1639,300.00
$SM_GC,1.44,7.43,0.12,25.77,0.050,0.095,0.048,94,1905,1639,-10.58,0.82,300.00,0,0,0,0,0,0,25.94,26.20,26.04
$IRIDIUM_FIX,4710.21,-12221.92,180921,072536
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.30
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,7
$SC_FREEKB,4004384
$24V_AH,24.34,3.451
$10V_AH,9.98,2.128
$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,18.700,27.775,332.175,25.775,0.000,0.000,0.000,179.750,3.000,0.000,13.071,584.237,747.792,421.609,614.927,197.679,33.273,889.482,0.000,419.689,0.000,11.377,0.000
$DEVICE_MAMPS,259.335,113.220,577.575,48.195,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2167.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.479,0.000,0.000,0.000
$MEM,203944
$DATA_FILE_SIZE,10140,275
$CAP_FILE_SIZE,50453,0
$CFSIZE,260034560,249561088
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$INTR,0,2880.16,0x239dd2,7,5
$INTR,1,792.53,0x213b24,0,24
$CURRENT,0.056,139.5,1
$GPS,150714,222221,4726.271,-12222.597,8,2.3,28,18.1