version: 66.12
glider: 124
mission: 17
dive: 71
start: 7 16 114 22 17 26
data:
$ID,124
$MISSION,17
$DIVE,71
$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,-307941.94
$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,29
$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
$GPS1,160714,221019,4725.648,-12222.296,13,2.0,13,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-67.8
$GPS2,160714,221621,4725.663,-12222.293,15,2.3,35,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.038,0.301
$KALMAN_X,-8290.4,-4.1,-313.4,7031.9,-70.8
$KALMAN_Y,8473.7,197.1,459.9,-7042.9,-122.8
$MHEAD_RNG_PITCHd_Wd,330.3,1312,-25.0,-16.667,-28.75,1541
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-1.69,-180.8,94,1920,1531,1744,0.0,0.0,0,102,0.00,0.00,-79.80,0.000,16386,0.000,0.000,94,1920,2919,2945,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,94,1919,2945,2893,3.2,-1.7,8,145,8.52,2.28,-21.40,0.000,18948,0.258,0.071,2036,508,3600,3665,3536,0,0,1,0,0,0,25.37,25.57,26.56
$GC,375,-1.57,-180.8,2036,508,3666,3536,61.5,-20.0,60,381,0.12,2.25,0.00,0.000,3078,0.190,0.047,2065,1917,3601,3666,3536,0,0,0,0,0,0,25.79,26.10,28.83
$GC,570,-1.57,-180.8,2065,1917,3666,3536,96.5,-16.8,80,575,0.00,2.28,0.00,0.000,516,0.000,0.057,2066,508,3601,3666,3537,0,0,0,0,0,0,28.83,26.08,28.83
$GC,696,-1.57,-180.8,2065,508,3665,3536,119.5,-17.6,104,702,0.00,2.25,0.00,0.000,1030,0.000,0.047,2066,1928,3601,3666,3537,0,0,0,0,0,0,28.83,26.17,28.83
$GC,891,-1.57,-180.8,2065,1927,3666,3537,150.9,-15.0,124,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,1928,3601,3666,3536,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1028,begin apogee
$GC,1039,-0.47,0.0,2066,2005,3666,3537,174.6,-16.9,138,1193,0.75,0.00,142.77,0.583,10246,0.141,0.000,2300,2005,2858,2751,2965,0,0,0,0,0,0,25.64,28.83,24.47
$STATE,1194,end apogee,CONTROL_FINISHED_OK
$STATE,1194,begin climb
$GC,1198,1.69,180.8,2300,2005,2750,2964,183.5,0.0,154,1356,1.40,2.33,146.98,0.558,10500,0.083,0.054,2775,3411,2119,1941,2298,0,0,0,0,0,0,25.25,25.03,24.34
$GC,1394,1.69,180.8,2775,3412,1941,2292,165.4,16.7,189,1401,0.00,2.35,0.00,0.000,1030,0.000,0.047,2785,1992,2117,1942,2292,0,0,0,0,0,0,28.83,25.36,28.83
$GC,1580,1.69,180.8,2785,1992,1942,2286,134.3,17.8,208,1585,0.00,2.25,0.00,0.000,516,0.000,0.057,2794,590,2114,1942,2286,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1655,1.69,180.8,2794,590,1943,2284,120.9,17.2,222,1660,0.00,2.25,0.00,0.000,1030,0.000,0.046,2794,1987,2113,1943,2284,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1850,1.80,276.3,2794,1987,1943,2281,89.3,10.3,242,1935,0.00,2.35,78.30,0.509,8452,0.000,0.055,2794,3424,1731,1565,1897,0,0,0,0,0,0,28.83,25.46,24.78
$GC,1951,1.80,276.3,2794,3424,1568,1893,71.7,18.1,261,1958,0.00,2.35,0.00,0.000,1030,0.000,0.047,2804,1993,1730,1568,1892,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2137,1.80,276.3,2803,1993,1571,1890,36.3,17.6,280,2142,0.00,2.25,0.00,0.000,516,0.000,0.059,2812,583,1731,1571,1891,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2175,1.80,276.3,2812,583,1571,1890,29.7,17.3,287,2181,0.00,2.30,0.00,0.000,1030,0.000,0.046,2812,2009,1730,1571,1890,0,0,0,0,0,0,28.83,25.93,28.83
$STATE,2338,end climb,SURFACE_DEPTH_REACHED
$STATE,2338,begin surface coast
$FINISH,0.9,1.021248
$STATE,2349,end surface coast,CONTROL_FINISHED_OK
$STATE,2349,begin surface
$SM_CCo,2370,8.82,0.049,0,0,1639,300.00
$SM_GC,3.27,7.35,0.17,8.82,0.047,0.079,0.049,94,1919,1639,-10.59,0.96,300.00,0,0,1,0,0,0,25.96,26.18,26.03
$IRIDIUM_FIX,4710.21,-12220.22,190921,075619
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.14
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,130.8,60.4
$SC_FREEKB,3992480
$24V_AH,24.34,5.336
$10V_AH,9.57,3.227
$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,18.150,27.750,368.050,8.825,0.000,0.000,0.000,177.500,2.500,0.000,35.981,614.586,834.711,424.994,682.319,201.727,33.274,919.212,0.000,468.617,0.000,7.155,0.000
$DEVICE_MAMPS,257.805,117.810,582.930,48.960,0.000,0.000,0.000,119.340,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2357.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.257,0.000,0.000,0.000
$MEM,203720
$DATA_FILE_SIZE,10141,305
$CAP_FILE_SIZE,50560,0
$CFSIZE,260034560,248475648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$INTR,0,2972.00,0x239dd2,7,5
$CURRENT,0.060,152.8,1
$GPS,160714,225821,4725.832,-12222.428,11,2.2,31,18.1