version: 66.12
glider: 124
mission: 17
dive: 75
start: 7 17 114 1 32 30
data:
$ID,124
$MISSION,17
$DIVE,75
$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,-307946.94
$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,29
$R_STBD_OVSHOOT,25
$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
$GPS1,170714,012531,4726.488,-12222.748,11,1.6,11,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-67.6
$GPS2,170714,013124,4726.493,-12222.763,9,1.6,14,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.231,-0.174
$KALMAN_X,-8566.4,-33.9,-213.1,6651.8,42.1
$KALMAN_Y,8291.2,-15.3,-59.3,-4601.7,-144.8
$MHEAD_RNG_PITCHd_Wd,125.7,354,-26.4,-16.667,-30.00,1390
$D_GRID,154
$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,17,begin dive
$GC,20,-1.75,-161.4,89,1915,1531,1751,0.0,0.0,0,102,0.00,0.00,-79.75,0.000,16386,0.000,0.000,89,1916,2965,2997,2933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.77,-180.8,90,1916,2997,2934,3.4,-1.9,8,141,8.50,2.42,-17.30,0.000,18692,0.259,0.073,2021,3338,3600,3666,3535,0,0,0,0,0,0,25.37,25.95,26.54
$GC,369,-1.77,-180.8,2021,3338,3666,3537,60.8,-19.9,59,376,0.00,2.28,0.00,0.000,1030,0.000,0.049,2022,1920,3601,3666,3537,0,0,0,0,0,0,28.83,26.10,28.83
$GC,556,-1.77,-180.8,2021,1921,3665,3538,95.1,-18.7,78,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1919,3601,3666,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,736,-1.77,-180.8,2021,1919,3665,3537,131.1,-21.0,96,741,0.00,2.22,0.00,0.000,516,0.000,0.058,2022,503,3601,3665,3538,0,0,0,0,0,0,28.83,26.10,28.83
$GC,780,-1.68,-180.8,2022,503,3665,3538,140.6,-21.8,104,787,0.10,2.25,0.00,0.000,3078,0.210,0.047,2044,1923,3601,3665,3538,0,0,0,0,0,0,25.92,26.19,28.83
$STATE,852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,852,begin apogee
$GC,861,-0.47,0.0,2044,2009,3665,3538,155.1,-19.0,112,1008,0.85,0.00,140.32,0.564,10246,0.148,0.000,2304,2009,2859,2755,2964,0,0,0,0,0,0,25.59,28.83,24.52
$STATE,1010,end apogee,CONTROL_FINISHED_OK
$STATE,1010,begin climb
$GC,1013,1.77,180.8,2305,2008,2753,2963,167.6,0.0,127,1166,1.48,0.00,145.10,0.545,10502,0.090,0.000,2798,2009,2121,1946,2296,0,0,0,0,0,0,25.24,28.83,24.38
$GC,1346,1.77,180.8,2798,2009,1945,2285,121.2,18.3,174,1351,0.00,2.25,0.00,0.000,260,0.000,0.055,2798,3409,2115,1946,2285,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1391,1.77,180.8,2798,3409,1947,2280,113.7,18.0,182,1396,0.00,2.30,0.00,0.000,1030,0.000,0.047,2809,1988,2114,1948,2280,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1585,1.77,180.8,2808,1988,1946,2279,81.9,16.7,202,1591,0.00,2.22,0.00,0.000,516,0.000,0.057,2814,588,2113,1948,2279,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1664,1.77,180.8,2814,588,1950,2278,65.9,20.8,217,1671,0.00,2.25,0.00,0.000,1030,0.000,0.045,2815,1999,2113,1949,2278,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1850,1.83,231.2,2814,1999,1949,2276,36.5,13.0,236,1898,0.00,0.00,41.03,0.487,8198,0.000,0.000,2814,1999,1915,1748,2083,0,0,0,0,0,0,28.83,28.83,25.14
$GC,2080,1.94,253.4,2814,1999,1748,2080,3.3,15.0,259,2089,0.00,0.00,6.22,0.047,8194,0.000,0.000,2814,1999,1851,1685,2018,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2089,end climb,SURFACE_DEPTH_REACHED
$STATE,2090,begin surface coast
$FINISH,0.8,1.014836
$STATE,2098,end surface coast,CONTROL_FINISHED_OK
$STATE,2098,begin surface
$SM_CCo,2119,21.17,0.049,0,0,1638,300.00
$SM_GC,1.42,7.40,0.17,21.17,0.049,0.081,0.049,89,1912,1638,-10.61,0.65,300.00,0,0,1,0,0,0,25.95,26.13,26.03
$IRIDIUM_FIX,4710.21,-12220.22,190921,111402
$TT8_MAMPS,0.029211,0.029211
$HUMID,66.42
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,19.40
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,120.6,48.6
$SC_FREEKB,3990944
$24V_AH,24.38,5.576
$10V_AH,9.80,3.370
$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,18.325,18.500,332.675,21.175,0.000,0.000,0.000,188.975,2.750,0.000,15.351,549.768,760.627,404.412,605.550,191.337,33.277,867.316,0.000,407.211,0.000,5.548,0.000
$DEVICE_MAMPS,259.335,98.685,563.805,48.960,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2106.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.279,0.000,0.000,0.000
$MEM,203704
$DATA_FILE_SIZE,6808,261
$CAP_FILE_SIZE,46230,0
$CFSIZE,260034560,248340480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2857.21,0x239dd2,7,5
$CURRENT,0.057,259.5,1
$GPS,170714,020907,4726.228,-12222.645,11,1.2,11,18.1