version: 66.12
glider: 124
mission: 17
dive: 124
start: 7 18 114 16 29 37
data:
$ID,124
$MISSION,17
$DIVE,124
$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,-309209.5
$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,26
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,250
$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
$GPS1,180714,162307,4726.340,-12222.995,18,1.3,18,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-67.5
$GPS2,180714,162831,4726.263,-12222.980,18,1.2,18,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.246,0.151
$KALMAN_X,-10250.9,-103.9,72.0,7845.6,77.6
$KALMAN_Y,12158.0,101.0,-22.1,-9037.4,-112.5
$MHEAD_RNG_PITCHd_Wd,47.7,513,-26.4,-16.667,-30.00,1390
$D_GRID,191
$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,-1.75,-161.4,90,1919,1531,1758,0.0,0.0,0,103,0.00,0.00,-80.32,0.000,16386,0.000,0.000,91,1919,2973,3009,2937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.77,-180.8,90,1919,3010,2937,3.5,-2.1,8,141,8.52,2.25,-16.35,0.000,18948,0.259,0.067,2022,499,3600,3670,3531,0,0,0,0,0,0,25.35,26.00,26.60
$GC,372,-1.65,-180.8,2022,499,3671,3532,66.5,-21.3,59,379,0.12,2.28,0.00,0.000,3078,0.197,0.046,2051,1931,3601,3671,3532,0,0,0,0,0,0,25.80,26.13,28.83
$GC,559,-1.65,-180.8,2051,1931,3670,3532,102.4,-17.2,78,564,0.00,2.30,0.00,0.000,516,0.000,0.056,2052,506,3600,3669,3532,0,0,0,0,0,0,28.83,26.11,28.83
$GC,629,-1.65,-180.8,2051,506,3670,3532,115.6,-20.5,91,635,0.00,2.25,0.00,0.000,1030,0.000,0.046,2052,1928,3600,3669,3532,0,0,0,0,0,0,28.83,26.20,28.83
$GC,815,-1.65,-180.8,2051,1928,3669,3532,150.5,-19.4,110,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1928,3600,3669,3532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1004,-1.65,-180.8,2051,1928,3669,3532,186.1,-18.9,129,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1928,3600,3669,3532,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1031,begin apogee
$GC,1040,-0.47,0.0,2052,2011,3669,3532,191.6,-18.6,132,1195,0.80,0.00,144.40,0.593,10246,0.141,0.000,2302,2011,2857,2753,2962,0,0,0,0,0,0,25.65,28.83,24.44
$STATE,1197,end apogee,CONTROL_FINISHED_OK
$STATE,1197,begin climb
$GC,1200,1.77,180.8,2301,2012,2753,2962,201.4,0.0,148,1354,1.48,0.00,146.07,0.571,10502,0.090,0.000,2794,2011,2121,1938,2304,0,0,0,0,0,0,25.25,28.83,24.32
$GC,1534,1.80,201.6,2794,2012,1942,2299,160.7,15.1,192,1555,0.00,0.00,18.12,0.532,8198,0.000,0.000,2794,2011,2036,1858,2215,0,0,0,0,0,0,28.83,28.83,24.75
$GC,1735,1.86,205.1,2794,2011,1858,2210,129.2,16.4,212,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2011,2034,1858,2210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1925,1.93,206.6,2796,2011,1859,2210,98.8,16.6,231,1938,0.12,2.28,3.88,0.409,10500,0.092,0.054,2847,3413,2020,1849,2192,0,0,0,0,0,0,26.28,26.06,24.81
$GC,1980,1.87,206.6,2847,3413,1853,2190,89.8,18.2,240,1986,0.15,2.28,0.00,0.000,5126,0.164,0.047,2818,1995,2022,1854,2190,0,0,0,0,0,0,25.80,26.07,28.83
$GC,2175,1.87,206.6,2819,1996,1854,2190,55.7,17.2,260,2180,0.00,2.28,0.00,0.000,260,0.000,0.054,2819,3409,2021,1853,2190,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2219,1.87,206.6,2819,3409,1855,2188,47.7,18.4,268,2224,0.00,2.25,0.00,0.000,1030,0.000,0.047,2828,2003,2021,1855,2188,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2414,2.00,249.2,2828,2003,1855,2188,17.9,13.5,288,2435,0.00,0.00,19.02,0.080,8198,0.000,0.000,2828,2003,1846,1674,2019,0,0,0,0,0,0,28.83,28.83,26.01
$STATE,2511,end climb,SURFACE_DEPTH_REACHED
$STATE,2511,begin surface coast
$FINISH,1.4,1.021765
$STATE,2524,end surface coast,CONTROL_FINISHED_OK
$STATE,2525,begin surface
$SM_CCo,2545,20.92,0.050,0,0,1638,300.00
$SM_GC,1.66,7.32,0.12,20.92,0.046,0.097,0.050,94,1918,1638,-10.58,0.90,300.00,0,0,0,0,0,0,26.13,26.44,26.20
$IRIDIUM_FIX,4707.04,-12218.52,210921,021026
$TT8_MAMPS,0.029211,0.029211
$HUMID,65.79
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,19.30
$XPDR_PINGS,13
$SC_FREEKB,3972128
$24V_AH,24.32,8.609
$10V_AH,9.31,5.152
$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,18.525,18.400,331.500,20.925,0.000,0.000,0.000,154.200,5.500,0.000,18.909,652.070,991.239,414.080,637.075,213.942,33.276,868.951,0.000,463.554,0.000,16.540,0.000
$DEVICE_MAMPS,259.335,104.805,592.875,49.725,0.000,0.000,0.000,120.870,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2532.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.127,0.000,0.000,0.000
$MEM,203708
$DATA_FILE_SIZE,10143,299
$CAP_FILE_SIZE,53073,0
$CFSIZE,260034560,246603776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2903.15,0x239dd2,7,5
$CURRENT,0.059,258.2,1
$GPS,180714,171339,4726.454,-12222.680,10,3.3,30,18.1