version: 66.12
glider: 124
mission: 17
dive: 88
start: 7 17 114 11 50 55
data:
$ID,124
$MISSION,17
$DIVE,88
$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,-307963.19
$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,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
$GPS1,170714,114413,4726.219,-12222.256,14,1.7,14,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-65.3
$GPS2,170714,114949,4726.255,-12222.245,12,1.7,12,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.254,0.138
$KALMAN_X,-9480.1,-129.3,-41.4,8132.3,-27.7
$KALMAN_Y,9590.1,201.0,304.9,-6917.7,-56.6
$MHEAD_RNG_PITCHd_Wd,270.0,460,-26.4,-16.667,-30.00,1390
$D_GRID,169
$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,20,-1.75,-161.4,95,1912,1528,1755,0.0,0.0,0,102,0.00,0.00,-79.55,0.000,16386,0.000,0.000,95,1912,2929,2956,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.77,-180.8,95,1913,2953,2903,3.4,-2.2,8,145,8.45,2.25,-20.62,0.000,18948,0.259,0.070,2021,517,3601,3667,3536,0,0,1,0,0,0,25.37,25.56,26.55
$GC,375,-1.70,-180.8,2020,517,3668,3537,61.3,-21.1,60,380,0.00,2.25,0.00,0.000,1030,0.000,0.046,2021,1933,3602,3668,3537,0,0,0,0,0,0,28.83,26.13,28.83
$GC,569,-1.70,-180.8,2019,1934,3668,3537,99.4,-18.9,80,574,0.00,2.20,0.00,0.000,260,0.000,0.057,2022,3335,3602,3668,3537,0,0,0,0,0,0,28.83,26.07,28.83
$GC,607,-1.70,-180.8,2020,3334,3668,3537,106.5,-18.6,87,614,0.00,2.28,0.00,0.000,1030,0.000,0.048,2021,1915,3602,3668,3537,0,0,0,0,0,0,28.83,26.18,28.83
$GC,794,-1.70,-180.8,2020,1915,3668,3537,142.1,-18.8,106,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1915,3602,3668,3537,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,940,begin apogee
$GC,948,-0.47,0.0,2020,2006,3666,3537,169.9,-18.0,121,1105,0.93,0.00,144.62,0.574,10246,0.152,0.000,2303,2006,2857,2753,2962,0,0,0,0,0,0,25.58,28.83,24.49
$STATE,1106,end apogee,CONTROL_FINISHED_OK
$STATE,1106,begin climb
$GC,1109,1.77,180.8,2302,2007,2751,2962,178.8,0.0,137,1262,1.48,0.00,145.95,0.555,10758,0.088,0.000,2798,2007,2121,1941,2301,0,0,0,0,0,0,25.26,28.83,24.37
$GC,1443,1.78,192.6,2798,2007,1941,2287,134.3,15.8,184,1455,0.00,0.00,9.68,0.492,8198,0.000,0.000,2798,2007,2075,1901,2249,0,0,0,0,0,0,28.83,28.83,24.80
$GC,1634,1.78,192.6,2798,2007,1900,2242,102.7,17.5,203,1639,0.00,2.22,0.00,0.000,260,0.000,0.055,2798,3410,2072,1901,2244,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1679,1.78,192.6,2798,3410,1902,2239,94.7,18.1,211,1684,0.00,2.28,0.00,0.000,1030,0.000,0.047,2809,1999,2070,1902,2239,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1874,1.80,207.9,2808,1999,1902,2238,62.6,15.5,231,1891,0.00,0.00,13.23,0.491,8198,0.000,0.000,2808,1999,2012,1845,2179,0,0,0,0,0,0,28.83,28.83,25.17
$GC,2075,1.88,217.2,2808,1999,1845,2176,31.2,16.0,251,2086,0.00,2.25,4.22,0.400,8708,0.000,0.056,2818,577,1978,1813,2143,0,0,0,0,0,0,28.83,26.09,25.01
$GC,2143,1.97,227.5,2818,577,1814,2143,20.4,15.9,263,2155,0.00,2.25,4.80,0.086,9222,0.000,0.044,2817,2000,1935,1771,2099,0,0,0,0,0,0,28.83,26.14,25.91
$STATE,2263,end climb,SURFACE_DEPTH_REACHED
$STATE,2263,begin surface coast
$FINISH,1.0,1.021722
$STATE,2281,end surface coast,CONTROL_FINISHED_OK
$STATE,2281,begin surface
$SM_CCo,2302,29.88,0.047,0,0,1638,300.00
$SM_GC,1.87,7.35,0.20,29.88,0.048,0.077,0.047,90,1910,1638,-10.59,0.62,300.00,0,0,0,0,0,0,26.12,26.29,26.15
$IRIDIUM_FIX,4707.04,-12220.22,190921,213328
$TT8_MAMPS,0.029211,0.029211
$HUMID,66.38
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.40
$XPDR_PINGS,8
$SC_FREEKB,3985952
$24V_AH,24.37,6.369
$10V_AH,9.41,3.832
$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,18.200,18.350,322.500,29.875,0.000,0.000,0.000,175.000,3.500,0.000,13.439,590.185,868.510,409.287,618.418,201.416,33.275,870.591,0.000,440.862,0.000,11.766,0.000
$DEVICE_MAMPS,258.570,77.265,573.750,47.430,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2289.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.864,0.000,0.000,0.000
$MEM,203700
$DATA_FILE_SIZE,10112,278
$CAP_FILE_SIZE,48914,0
$CFSIZE,260034560,247889920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$INTR,0,2753.80,0x239dd2,7,5
$CURRENT,0.055,126.9,1
$GPS,170714,123106,4726.317,-12222.598,33,1.0,34,18.1