version: 66.12
glider: 124
mission: 17
dive: 93
start: 7 17 114 15 46 50
data:
$ID,124
$MISSION,17
$DIVE,93
$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,-307969.44
$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,30
$R_STBD_OVSHOOT,30
$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
$GPS1,170714,153931,4726.250,-12222.802,13,1.8,13,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-67.3
$GPS2,170714,154544,4726.275,-12222.755,10,5.8,30,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.033,0.287
$KALMAN_X,-8813.8,72.6,13.3,6572.3,175.8
$KALMAN_Y,8807.0,48.5,-248.4,-5388.2,-160.4
$MHEAD_RNG_PITCHd_Wd,40.2,243,-26.4,-16.667,-30.00,1390
$D_GRID,182
$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,-1.75,-161.4,88,1912,1527,1752,0.0,0.0,0,102,0.00,0.00,-80.07,0.000,16386,0.000,0.000,88,1912,2926,2953,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.77,-180.8,88,1912,2953,2901,3.2,-1.9,8,141,8.55,2.42,-19.75,0.000,18692,0.262,0.076,2019,3334,3602,3667,3537,0,0,0,0,0,0,25.35,25.72,26.56
$GC,361,-1.77,-180.8,2019,3334,3668,3538,59.0,-19.9,57,368,0.00,2.28,0.00,0.000,1030,0.000,0.047,2019,1917,3603,3668,3538,0,0,0,0,0,0,28.83,26.12,28.83
$GC,547,-1.77,-180.8,2019,1917,3668,3538,98.1,-20.8,76,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1917,3602,3667,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,728,-1.77,-180.8,2019,1917,3667,3538,131.3,-18.5,94,733,0.00,2.28,0.00,0.000,260,0.000,0.057,2019,3322,3602,3667,3538,0,0,0,0,0,0,28.83,26.09,28.83
$GC,773,-1.77,-180.8,2019,3322,3668,3539,139.6,-17.8,102,779,0.00,2.25,0.00,0.000,1030,0.000,0.048,2019,1918,3603,3668,3538,0,0,0,0,0,0,28.83,26.21,28.83
$GC,968,-1.77,-180.8,2019,1918,3667,3538,173.8,-18.2,122,974,0.00,2.20,0.00,0.000,516,0.000,0.057,2019,510,3602,3667,3538,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1008,-1.77,-180.8,2019,510,3667,3539,181.7,-19.8,129,1016,0.00,2.25,0.00,0.000,1030,0.000,0.047,2019,1915,3602,3666,3538,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,1020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1020,begin apogee
$GC,1029,-0.47,0.0,2019,2025,3666,3538,184.7,-20.0,131,1185,0.93,0.00,144.98,0.589,10246,0.149,0.000,2303,2025,2859,2752,2966,0,0,0,0,0,0,25.60,28.83,24.46
$STATE,1187,end apogee,CONTROL_FINISHED_OK
$STATE,1187,begin climb
$GC,1191,1.77,180.8,2302,2025,2750,2965,192.6,0.0,147,1346,1.42,2.50,146.32,0.568,10756,0.073,0.057,2809,591,2120,1941,2300,0,0,1,0,0,0,25.29,25.01,24.34
$GC,1393,1.77,180.8,2809,591,1941,2295,172.2,17.5,185,1399,0.00,2.30,0.00,0.000,1030,0.000,0.045,2809,1984,2117,1941,2294,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1588,1.77,180.8,2809,1984,1942,2287,138.4,17.1,205,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1984,2114,1941,2287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1768,1.78,188.5,2809,1984,1943,2283,107.9,16.1,223,1780,0.00,2.28,4.82,0.459,8452,0.000,0.054,2809,3413,2093,1926,2261,0,0,0,0,0,0,28.83,26.01,24.92
$GC,1856,1.78,188.5,2809,3413,1929,2261,93.4,17.9,239,1861,0.00,2.28,0.00,0.000,1030,0.000,0.047,2819,1999,2095,1929,2261,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2050,1.80,203.2,2819,1999,1929,2261,62.4,15.6,259,2070,0.00,2.33,14.62,0.503,8708,0.000,0.059,2829,584,2030,1865,2195,0,0,0,0,0,0,28.83,26.04,25.21
$GC,2104,1.80,203.2,2829,584,1865,2195,53.1,17.9,268,2111,0.08,2.25,0.00,0.000,5126,0.134,0.046,2804,2005,2030,1865,2195,0,0,0,0,0,0,25.88,26.09,28.83
$GC,2301,1.92,237.0,2803,2005,1865,2192,24.4,14.2,288,2329,0.10,0.00,25.02,0.483,10502,0.102,0.000,2846,2005,1893,1727,2059,0,0,0,0,0,0,26.39,28.83,25.21
$STATE,2436,end climb,SURFACE_DEPTH_REACHED
$STATE,2437,begin surface coast
$FINISH,0.8,1.014499
$STATE,2448,end surface coast,CONTROL_FINISHED_OK
$STATE,2448,begin surface
$SM_CCo,2468,25.25,0.049,0,0,1638,300.00
$SM_GC,1.47,7.45,0.17,25.25,0.048,0.079,0.049,95,1913,1638,-10.58,0.79,300.00,0,0,1,0,0,0,26.00,26.17,26.06
$IRIDIUM_FIX,4710.21,-12224.61,200921,012755
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.10
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.40
$XPDR_PINGS,9
$SC_FREEKB,3984032
$24V_AH,24.34,6.670
$10V_AH,9.35,4.010
$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,18.525,27.925,335.775,25.250,0.000,0.000,0.000,192.150,4.250,0.000,31.638,641.420,919.520,417.380,693.769,213.712,33.269,922.002,0.000,473.087,0.000,14.833,0.000
$DEVICE_MAMPS,261.630,88.740,589.050,48.960,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2457.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.340,0.000,0.000,0.000
$MEM,203712
$DATA_FILE_SIZE,10166,304
$CAP_FILE_SIZE,53359,0
$CFSIZE,260034560,247705600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$INTR,0,2871.50,0x239dd2,7,5
$CURRENT,0.123,325.9,1
$GPS,170714,162918,4726.577,-12222.427,8,1.9,8,18.1