version: 66.12
glider: 124
mission: 17
dive: 133
start: 7 18 114 23 34 8
data:
$ID,124
$MISSION,17
$DIVE,133
$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,-309220.75
$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,29
$R_STBD_OVSHOOT,30
$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
$GPS1,180714,232621,4725.560,-12222.010,12,4.4,32,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-67.7
$GPS2,180714,233303,4725.609,-12222.008,16,5.5,36,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.197,0.232
$KALMAN_X,-12178.7,-338.6,-267.9,11562.1,80.2
$KALMAN_Y,12969.1,70.7,119.8,-11176.7,128.6
$MHEAD_RNG_PITCHd_Wd,310.4,1541,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-1.69,-180.8,95,1894,1527,1750,0.0,0.0,0,102,0.00,0.00,-79.80,0.000,16386,0.000,0.000,95,1894,3015,3057,2973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,95,1894,3058,2973,3.7,-2.6,8,140,8.62,2.28,-14.75,0.000,19204,0.261,0.069,2036,511,3602,3669,3535,0,0,0,0,0,0,25.30,25.99,26.55
$GC,370,-1.60,-180.8,2036,511,3669,3535,65.8,-21.9,59,377,0.10,2.25,0.00,0.000,3078,0.205,0.045,2060,1932,3602,3669,3535,0,0,0,0,0,0,25.88,26.14,28.83
$GC,557,-1.60,-180.8,2058,1933,3669,3535,102.0,-18.8,78,562,0.00,2.30,0.00,0.000,516,0.000,0.055,2060,504,3602,3669,3535,0,0,0,0,0,0,28.83,26.11,28.83
$GC,654,-1.60,-180.8,2060,504,3668,3535,119.0,-17.2,96,662,0.00,2.25,0.00,0.000,1030,0.000,0.045,2060,1932,3601,3668,3535,0,0,0,0,0,0,28.83,26.21,28.83
$GC,851,-1.60,-180.8,2060,1932,3667,3535,152.9,-16.7,116,856,0.00,2.17,0.00,0.000,260,0.000,0.056,2060,3323,3601,3667,3535,0,0,0,0,0,0,28.83,26.14,28.83
$GC,879,-1.60,-180.8,2060,3323,3667,3535,157.8,-16.8,121,887,0.00,2.25,0.00,0.000,1030,0.000,0.046,2060,1917,3601,3667,3535,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,952,begin apogee
$GC,961,-0.47,0.0,2059,2008,3667,3535,170.7,-17.1,129,1110,0.77,0.00,142.55,0.581,10246,0.140,0.000,2303,2009,2860,2757,2963,0,0,0,0,0,0,25.68,28.83,24.46
$STATE,1112,end apogee,CONTROL_FINISHED_OK
$STATE,1112,begin climb
$GC,1115,1.69,180.8,2303,2009,2755,2962,179.9,0.0,144,1271,1.42,2.38,145.43,0.556,10500,0.091,0.052,2779,3408,2121,1940,2302,0,0,0,0,0,0,25.24,25.08,24.35
$GC,1289,1.73,221.0,2778,3408,1941,2299,165.3,14.0,177,1332,0.00,2.35,33.90,0.538,9222,0.000,0.045,2789,1985,1956,1770,2142,0,0,0,0,0,0,28.83,25.30,24.44
$GC,1520,1.73,221.0,2788,1987,1775,2136,127.3,16.8,204,1526,0.00,2.22,0.00,0.000,516,0.000,0.054,2798,584,1956,1776,2136,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1595,1.73,221.0,2798,584,1777,2135,113.5,18.1,218,1601,0.00,2.28,0.00,0.000,1030,0.000,0.042,2798,2009,1956,1777,2135,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1791,1.75,231.1,2798,2009,1777,2132,81.7,16.0,238,1808,0.00,2.28,8.82,0.480,8452,0.000,0.054,2798,3411,1916,1741,2091,0,0,0,0,0,0,28.83,26.03,25.08
$GC,1837,1.75,236.5,2798,3411,1744,2089,74.0,16.3,246,1849,0.00,2.28,4.55,0.437,9222,0.000,0.045,2808,1985,1898,1726,2071,0,0,0,0,0,0,28.83,26.06,24.88
$GC,2038,1.84,254.2,2808,1985,1730,2070,41.3,15.5,267,2061,0.00,2.22,16.65,0.497,8708,0.000,0.057,2816,597,1823,1653,1993,0,0,0,0,0,0,28.83,26.01,25.15
$GC,2080,1.93,261.7,2816,597,1654,1992,34.6,16.2,274,2092,0.00,2.25,6.43,0.451,9222,0.000,0.044,2816,2009,1793,1626,1961,0,0,0,0,0,0,28.83,26.06,25.07
$GC,2281,2.05,298.5,2816,2010,1626,1957,4.3,14.2,295,2301,0.15,1.83,14.68,0.050,10755,0.083,0.052,2887,921,1645,1483,1808,0,0,0,0,0,0,26.28,28.83,26.11
$STATE,2302,end climb,SURFACE_DEPTH_REACHED
$STATE,2302,begin surface coast
$FINISH,0.9,1.001693
$STATE,2318,end surface coast,CONTROL_FINISHED_OK
$STATE,2319,begin surface
$SM_CCo,2341,0.77,0.054,0,0,1638,300.00
$SM_GC,2.90,7.57,1.67,0.77,0.049,0.044,0.054,89,1937,1638,-10.61,-0.51,300.00,0,0,0,0,0,0,26.02,26.13,26.12
$IRIDIUM_FIX,4710.21,-12222.91,210921,091350
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.79
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.40
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,160.3,25.5
$SC_FREEKB,3968672
$24V_AH,24.35,9.174
$10V_AH,9.69,5.479
$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,18.650,35.450,373.000,0.775,0.000,0.000,0.000,213.675,3.750,0.000,37.585,613.661,802.709,424.436,692.647,228.463,33.274,956.931,0.000,461.452,0.000,11.818,0.000
$DEVICE_MAMPS,260.865,68.850,580.635,54.315,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2328.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.445,0.000,0.000,0.000
$MEM,204008
$DATA_FILE_SIZE,10099,299
$CAP_FILE_SIZE,54737,0
$CFSIZE,260034560,246272000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2996.08,0x239dd2,7,5
$CURRENT,0.009,206.7,1
$GPS,190714,001427,4725.819,-12222.286,11,2.1,31,18.1