version: 66.12
glider: 124
mission: 17
dive: 76
start: 7 17 114 2 15 37
data:
$ID,124
$MISSION,17
$DIVE,76
$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,-307948.19
$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,27
$R_STBD_OVSHOOT,31
$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
$GPS1,170714,020907,4726.228,-12222.645,11,1.2,11,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-66.5
$GPS2,170714,021431,4726.214,-12222.686,14,1.2,14,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.111,0.266
$KALMAN_X,-8886.0,-59.8,-143.2,7027.9,-29.2
$KALMAN_Y,8272.3,-62.2,-178.5,-4929.1,-103.8
$MHEAD_RNG_PITCHd_Wd,17.8,268,-26.4,-16.667,-30.00,1390
$D_GRID,180
$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,-161.4,89,1911,1536,1745,0.0,0.0,0,102,0.00,0.00,-79.62,0.000,16386,0.000,0.000,89,1912,2929,2956,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.77,-180.8,90,1912,2956,2903,3.2,-2.0,8,145,8.48,2.30,-20.20,0.000,18948,0.259,0.071,2020,504,3602,3667,3537,0,0,1,0,0,0,25.37,25.57,26.53
$GC,194,-1.59,-180.8,2020,504,3667,3537,20.9,-26.7,24,200,0.17,2.28,0.00,0.000,3078,0.195,0.048,2062,1922,3602,3667,3537,0,0,0,0,0,0,25.58,26.01,28.83
$GC,389,-1.59,-180.8,2062,1923,3667,3537,62.1,-19.7,44,395,0.00,2.22,0.00,0.000,260,0.000,0.058,2062,3331,3602,3667,3537,0,0,0,0,0,0,28.83,26.01,28.83
$GC,526,-1.66,-180.8,2062,3331,3667,3537,87.1,-17.7,70,531,0.00,2.28,0.00,0.000,1030,0.000,0.047,2063,1913,3602,3667,3537,0,0,0,0,0,0,28.83,26.16,28.83
$GC,721,-1.66,-180.8,2063,1913,3667,3537,124.0,-19.5,90,726,0.00,2.20,0.00,0.000,516,0.000,0.056,2063,506,3602,3667,3537,0,0,0,0,0,0,28.83,26.10,28.83
$GC,769,-1.66,-180.8,2063,506,3667,3537,132.6,-16.6,99,776,0.00,2.28,0.00,0.000,1030,0.000,0.047,2063,1929,3602,3667,3538,0,0,0,0,0,0,28.83,26.18,28.83
$GC,956,-1.66,-180.8,2063,1931,3666,3538,165.6,-16.6,118,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1929,3601,3666,3537,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1042,begin apogee
$GC,1051,-0.47,0.0,2062,2005,3667,3537,181.3,-17.4,127,1206,0.77,0.00,143.57,0.586,10246,0.142,0.000,2305,2005,2857,2751,2964,0,0,0,0,0,0,25.63,28.83,24.49
$STATE,1208,end apogee,CONTROL_FINISHED_OK
$STATE,1208,begin climb
$GC,1211,1.77,180.8,2305,2005,2750,2964,190.0,0.0,143,1369,1.48,2.42,146.07,0.557,10756,0.094,0.057,2807,580,2119,1941,2298,0,0,1,0,0,0,25.24,25.02,24.36
$GC,1393,1.77,180.8,2807,580,1941,2295,169.4,18.9,177,1400,0.00,2.33,0.00,0.000,1030,0.000,0.046,2807,1985,2118,1941,2295,0,0,0,0,0,0,28.83,25.32,28.83
$GC,1588,1.77,180.8,2807,1985,1942,2286,132.7,17.4,197,1595,0.00,2.30,0.00,0.000,260,0.000,0.056,2807,3422,2114,1943,2286,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1647,1.77,180.8,2807,3422,1945,2280,121.4,19.4,208,1655,0.10,2.33,0.00,0.000,5126,0.184,0.047,2796,1984,2112,1945,2280,0,0,0,0,0,0,25.67,25.87,28.83
$GC,1834,1.79,201.3,2796,1984,1945,2279,90.9,15.2,227,1856,0.00,2.40,16.33,0.498,8452,0.000,0.054,2796,3414,2038,1870,2206,0,0,1,0,0,0,28.83,25.94,25.14
$GC,1918,1.79,201.3,2796,3414,1873,2202,76.7,18.7,242,1924,0.00,2.28,0.00,0.000,1030,0.000,0.046,2805,2004,2037,1873,2202,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2103,1.81,214.5,2804,2004,1873,2200,45.3,15.7,261,2121,0.00,0.00,12.02,0.474,8198,0.000,0.000,2805,2004,1985,1821,2149,0,0,0,0,0,0,28.83,28.83,25.21
$GC,2304,1.95,255.3,2805,2004,1821,2150,16.0,13.7,281,2331,0.10,2.30,17.50,0.075,10756,0.103,0.057,2859,592,1822,1659,1986,0,0,0,0,0,0,26.35,26.01,25.98
$STATE,2381,end climb,SURFACE_DEPTH_REACHED
$STATE,2381,begin surface coast
$FINISH,1.5,1.021605
$STATE,2385,end surface coast,CONTROL_FINISHED_OK
$STATE,2385,begin surface
$SM_CCo,2408,18.33,0.050,0,0,1638,300.00
$SM_GC,1.92,7.47,2.20,18.33,0.048,0.047,0.050,91,1935,1638,-10.60,-0.54,300.00,0,0,0,0,0,0,26.03,26.11,26.11
$IRIDIUM_FIX,4710.21,-12220.22,190921,120146
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.46
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.60
$XPDR_PINGS,10
$SC_FREEKB,3990560
$24V_AH,24.36,5.633
$10V_AH,9.84,3.405
$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,18.575,32.200,335.500,18.325,0.000,0.000,0.000,161.850,4.250,0.000,15.193,619.861,882.277,423.308,633.174,211.154,33.261,897.424,0.000,458.150,0.000,12.100,0.000
$DEVICE_MAMPS,258.570,115.515,585.990,49.725,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2392.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.869,0.000,0.000,0.000
$MEM,203688
$DATA_FILE_SIZE,10139,296
$CAP_FILE_SIZE,53567,0
$CFSIZE,260034560,248291328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$INTR,0,2585.68,0x239dd2,7,5
$CURRENT,0.096,286.3,1
$GPS,170714,025749,4726.542,-12222.552,40,2.2,60,18.1