version: 66.12
glider: 124
mission: 17
dive: 44
start: 7 16 114 0 49 25
data:
$ID,124
$MISSION,17
$DIVE,44
$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,-307908.19
$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,26
$R_STBD_OVSHOOT,30
$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
$GPS1,160714,004236,4726.207,-12222.793,32,1.2,32,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-66.8
$GPS2,160714,004819,4726.153,-12222.764,13,1.4,13,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,mooring
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.032,0.287
$KALMAN_X,-5392.5,-11.4,-3.8,3241.3,282.8
$KALMAN_Y,3187.5,54.2,-24.4,-219.8,-236.2
$MHEAD_RNG_PITCHd_Wd,355.8,414,-26.4,-16.667,-30.00,1390
$D_GRID,174
$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,-161.4,90,1919,1530,1754,0.0,0.0,0,102,0.00,0.00,-80.05,0.000,16386,0.000,0.000,91,1920,2950,2982,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.77,-180.8,90,1919,2982,2919,3.4,-2.0,8,141,8.50,2.30,-17.38,0.000,18948,0.259,0.071,2024,506,3601,3670,3533,0,0,1,0,0,0,25.40,25.63,26.54
$GC,370,-1.68,-180.8,2023,506,3671,3534,61.3,-22.6,59,376,0.00,2.28,0.00,0.000,1030,0.000,0.047,2023,1930,3602,3671,3534,0,0,0,0,0,0,28.83,26.07,28.83
$GC,557,-1.68,-180.8,2023,1931,3671,3535,96.0,-16.4,78,562,0.00,2.22,0.00,0.000,260,0.000,0.058,2023,3335,3602,3671,3534,0,0,0,0,0,0,28.83,26.03,28.83
$GC,602,-1.68,-180.8,2023,3335,3671,3535,103.9,-18.0,86,607,0.00,2.28,0.00,0.000,1030,0.000,0.049,2024,1918,3604,3671,3538,0,0,0,0,0,0,28.83,26.13,28.83
$GC,796,-1.68,-180.8,2023,1918,3671,3535,139.0,-18.5,106,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1918,3603,3671,3535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,978,-1.68,-180.8,2023,1918,3670,3535,172.7,-18.5,124,983,0.00,2.22,0.00,0.000,516,0.000,0.057,2023,502,3602,3670,3535,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,989,begin apogee
$GC,999,-0.47,0.0,2023,1999,3670,3534,175.2,-18.9,126,1153,0.93,0.00,144.12,0.583,10246,0.150,0.000,2302,1999,2858,2753,2964,0,0,0,0,0,0,25.52,28.83,24.46
$STATE,1155,end apogee,CONTROL_FINISHED_OK
$STATE,1155,begin climb
$GC,1158,1.77,180.8,2301,1999,2752,2963,184.8,0.0,142,1311,1.48,0.00,146.60,0.561,10502,0.090,0.000,2792,2000,2123,1945,2301,0,0,0,0,0,0,25.21,28.83,24.32
$GC,1490,1.77,180.8,2792,1999,1945,2289,142.7,17.0,189,1496,0.00,2.25,0.00,0.000,260,0.000,0.054,2792,3409,2117,1945,2289,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1525,1.77,180.8,2792,3409,1945,2284,136.4,18.1,195,1530,0.00,2.30,0.00,0.000,1030,0.000,0.047,2802,1993,2115,1947,2284,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1719,1.77,180.8,2802,1993,1947,2281,102.3,17.9,215,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1992,2114,1947,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1899,1.80,204.2,2802,1993,1947,2279,73.9,14.9,233,1926,0.00,2.35,18.73,0.500,8452,0.000,0.055,2802,3408,2025,1860,2190,0,0,1,0,0,0,28.83,25.95,25.21
$GC,1965,1.82,225.3,2802,3407,1862,2188,64.2,15.1,245,1992,0.00,2.28,18.67,0.493,9222,0.000,0.048,2812,2000,1940,1777,2104,0,0,0,0,0,0,28.83,25.98,25.06
$GC,2181,1.89,225.3,2812,2000,1777,2102,29.9,17.2,269,2188,0.00,2.30,0.00,0.000,260,0.000,0.055,2812,3410,1939,1777,2102,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2221,1.95,229.9,2811,3410,1778,2099,23.2,16.3,276,2228,0.00,2.28,1.58,0.085,9222,0.000,0.048,2821,1999,1924,1764,2085,0,0,0,0,0,0,28.83,26.01,25.79
$STATE,2354,end climb,SURFACE_DEPTH_REACHED
$STATE,2354,begin surface coast
$FINISH,1.0,1.021275
$STATE,2365,end surface coast,CONTROL_FINISHED_OK
$STATE,2365,begin surface
$SM_CCo,2386,28.75,0.048,0,0,1638,300.00
$SM_GC,1.61,7.38,0.12,28.75,0.047,0.097,0.048,89,1915,1638,-10.60,0.79,300.00,0,0,0,0,0,0,26.04,26.27,26.10
$IRIDIUM_FIX,4710.21,-12224.61,180921,102923
$TT8_MAMPS,0.029211,0.029211
$HUMID,67.05
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,161.2,36.8
$SC_FREEKB,4002848
$24V_AH,24.32,3.679
$10V_AH,9.37,2.270
$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,18.275,27.625,329.700,28.750,0.000,0.000,0.000,181.750,4.000,0.000,13.799,616.907,897.149,412.791,646.727,202.348,33.274,895.280,0.000,451.208,0.000,17.247,0.000
$DEVICE_MAMPS,259.335,97.155,582.930,48.195,0.000,0.000,0.000,117.810,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2373.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.219,0.000,0.000,0.000
$MEM,203980
$DATA_FILE_SIZE,10111,291
$CAP_FILE_SIZE,51961,0
$CFSIZE,260034560,249421824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$INTR,0,2966.99,0x239dd2,7,5
$CURRENT,0.081,183.9,1
$GPS,160714,013037,4726.381,-12222.770,12,1.5,12,18.1