version: 66.12
glider: 124
mission: 17
dive: 85
start: 7 17 114 9 29 4
data:
$ID,124
$MISSION,17
$DIVE,85
$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,-307959.44
$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,31
$R_STBD_OVSHOOT,26
$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
$GPS1,170714,092135,4725.782,-12221.927,35,1.2,35,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-66.8
$GPS2,170714,092800,4725.840,-12221.931,13,1.4,13,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.223,0.206
$KALMAN_X,-9435.0,-179.2,69.9,8420.3,-50.5
$KALMAN_Y,9541.5,117.9,289.3,-7538.9,151.5
$MHEAD_RNG_PITCHd_Wd,301.0,1243,-25.0,-16.667,-28.75,1541
$D_GRID,170
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.69,-180.8,84,1912,1529,1749,0.0,0.0,0,103,0.00,0.00,-80.18,0.000,16386,0.000,0.000,85,1912,2953,2983,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,84,1912,2983,2925,3.4,-2.0,8,142,8.55,2.28,-18.52,0.000,18948,0.256,0.070,2041,514,3601,3666,3537,0,0,1,0,0,0,25.32,25.55,26.53
$GC,372,-1.59,-180.8,2041,514,3667,3537,58.9,-21.9,59,379,0.10,2.25,0.00,0.000,3078,0.194,0.047,2063,1928,3602,3667,3537,0,0,0,0,0,0,25.86,26.10,28.83
$GC,558,-1.59,-180.8,2063,1928,3667,3538,92.0,-17.7,78,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1930,3602,3667,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,748,-1.59,-180.8,2063,1928,3669,3538,127.0,-18.1,97,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1928,3602,3667,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,928,-1.59,-180.8,2063,1929,3667,3538,157.4,-16.0,115,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1929,3602,3667,3538,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1004,begin apogee
$GC,1013,-0.47,0.0,2063,2006,3666,3538,170.2,-15.7,123,1162,0.75,0.00,142.23,0.578,10246,0.137,0.000,2301,2006,2859,2753,2966,0,0,0,0,0,0,25.69,28.83,24.49
$STATE,1164,end apogee,CONTROL_FINISHED_OK
$STATE,1164,begin climb
$GC,1167,1.69,180.8,2301,2006,2751,2965,178.8,0.0,138,1321,1.40,0.00,146.45,0.559,10502,0.079,0.000,2782,2005,2120,1940,2301,0,0,0,0,0,0,25.26,28.83,24.34
$GC,1500,1.71,200.4,2782,2006,1941,2290,143.1,15.4,180,1519,0.00,0.00,16.12,0.534,8710,0.000,0.000,2782,2006,2041,1866,2217,0,0,0,0,0,0,28.83,28.83,24.79
$GC,1700,1.73,217.8,2782,2006,1867,2213,112.0,15.5,201,1722,0.00,2.25,15.35,0.522,8452,0.000,0.054,2782,3408,1971,1799,2144,0,0,0,0,0,0,28.83,25.80,24.96
$GC,1751,1.73,217.8,2782,3407,1801,2142,103.5,17.1,210,1757,0.00,2.28,0.00,0.000,1030,0.000,0.047,2792,2004,1971,1802,2141,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1936,1.74,223.4,2792,2004,1801,2138,72.5,16.3,229,1948,0.00,2.28,4.62,0.449,8708,0.000,0.057,2799,580,1952,1786,2119,0,0,0,0,0,0,28.83,25.99,24.89
$GC,1996,1.75,233.3,2798,580,1789,2119,62.7,16.0,240,2014,0.00,2.28,10.88,0.505,9222,0.000,0.046,2798,2002,1907,1741,2074,0,0,0,0,0,0,28.83,26.06,25.05
$GC,2194,1.82,233.3,2798,2002,1740,2071,30.1,17.8,261,2200,0.00,2.22,0.00,0.000,260,0.000,0.057,2798,3413,1905,1740,2071,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2239,1.82,233.3,2798,3413,1741,2069,22.4,17.4,269,2245,0.00,2.28,0.00,0.000,1030,0.000,0.047,2809,1988,1905,1741,2069,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,2361,end climb,SURFACE_DEPTH_REACHED
$STATE,2364,begin surface coast
$FINISH,0.9,1.021571
$STATE,2382,end surface coast,CONTROL_FINISHED_OK
$STATE,2382,begin surface
$SM_CCo,2403,26.62,0.049,0,0,1638,300.00
$SM_GC,1.33,7.30,0.10,26.62,0.046,0.112,0.049,90,1918,1638,-10.59,0.93,300.00,0,0,0,0,0,0,26.10,26.37,26.16
$IRIDIUM_FIX,4707.04,-12220.22,190921,190940
$TT8_MAMPS,0.029211,0.029211
$HUMID,66.49
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,19.30
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,160.7,19.5
$SC_FREEKB,3987104
$24V_AH,24.34,6.190
$10V_AH,9.74,3.728
$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,18.100,18.300,335.650,26.625,0.000,0.000,0.000,222.850,4.000,0.000,13.761,611.176,923.481,417.635,656.317,223.262,33.280,930.618,0.000,436.131,0.000,11.813,0.000
$DEVICE_MAMPS,256.275,115.515,577.575,48.960,0.000,0.000,0.000,113.220,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2390.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.255,0.000,0.000,0.000
$MEM,204040
$DATA_FILE_SIZE,10156,284
$CAP_FILE_SIZE,51392,0
$CFSIZE,260034560,247988224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2921.63,0x239dd2,7,5
$CURRENT,0.055,300.7,1
$GPS,170714,101031,4726.100,-12222.353,12,1.4,12,18.1