version: 66.12
glider: 124
mission: 17
dive: 135
start: 7 19 114 1 15 40
data:
$ID,124
$MISSION,17
$DIVE,135
$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,-309223.25
$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,33
$R_STBD_OVSHOOT,25
$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
$GPS1,190714,010206,4726.013,-12222.537,13,1.4,30,18.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-67.6
$GPS2,190714,011431,4726.069,-12222.538,10,1.5,10,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.089,0.275
$KALMAN_X,-12274.0,-313.5,-95.3,10800.9,112.0
$KALMAN_Y,12787.8,73.5,203.9,-10229.3,-46.1
$MHEAD_RNG_PITCHd_Wd,334.3,511,-25.7,-16.667,-29.36,1464
$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,21,-1.72,-170.9,89,1915,1532,1753,0.0,0.0,0,103,0.00,0.00,-80.32,0.000,16386,0.000,0.000,90,1915,2995,3032,2959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.73,-180.8,89,1915,3033,2960,3.4,-2.0,8,141,8.55,2.25,-16.30,0.000,18948,0.257,0.067,2029,507,3601,3667,3535,0,0,0,0,0,0,25.23,25.94,26.53
$GC,371,-1.62,-180.8,2027,507,3668,3535,65.9,-21.6,59,378,0.12,2.25,0.00,0.000,3078,0.194,0.045,2059,1927,3600,3666,3535,0,0,0,0,0,0,25.77,26.11,28.83
$GC,557,-1.62,-180.8,2058,1926,3665,3535,101.0,-18.0,78,563,0.00,2.28,0.00,0.000,516,0.000,0.056,2059,517,3601,3668,3535,0,0,0,0,0,0,28.83,26.08,28.83
$GC,622,-1.62,-180.8,2059,517,3668,3535,113.0,-18.3,90,628,0.00,2.22,0.00,0.000,1030,0.000,0.044,2059,1926,3601,3667,3535,0,0,0,0,0,0,28.83,26.20,28.83
$GC,818,-1.62,-180.8,2059,1926,3667,3535,147.8,-16.6,110,823,0.00,2.20,0.00,0.000,260,0.000,0.056,2059,3335,3600,3666,3535,0,0,0,0,0,0,28.83,26.13,28.83
$GC,910,-1.62,-180.8,2058,3335,3667,3535,164.0,-17.9,127,916,0.00,2.25,0.00,0.000,1030,0.000,0.047,2059,1920,3602,3667,3538,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,943,begin apogee
$GC,951,-0.47,0.0,2059,2002,3666,3535,170.0,-17.1,131,1101,0.77,0.00,142.02,0.579,10246,0.141,0.000,2302,2002,2859,2757,2962,0,0,0,0,0,0,25.65,28.83,24.46
$STATE,1103,end apogee,CONTROL_FINISHED_OK
$STATE,1103,begin climb
$GC,1106,1.73,180.8,2302,2002,2755,2961,179.0,0.0,146,1259,1.45,0.00,145.00,0.556,10502,0.089,0.000,2788,2002,2121,1941,2301,0,0,0,0,0,0,25.24,28.83,24.34
$GC,1438,1.75,197.3,2788,2002,1942,2294,137.8,15.5,189,1460,0.00,2.30,13.90,0.516,8452,0.000,0.054,2788,3413,2053,1878,2229,0,0,0,0,0,0,28.83,25.68,24.79
$GC,1504,1.75,197.3,2788,3413,1881,2226,126.7,17.1,201,1510,0.00,2.30,0.00,0.000,1030,0.000,0.045,2798,1990,2053,1881,2225,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1699,1.76,207.0,2796,1990,1882,2225,94.6,16.0,221,1710,0.00,0.00,8.90,0.490,8198,0.000,0.000,2798,1990,2017,1845,2189,0,0,0,0,0,0,28.83,28.83,24.98
$GC,1889,1.87,232.6,2798,1990,1845,2184,64.3,14.9,240,1917,0.00,0.00,22.27,0.509,8198,0.000,0.000,2798,1990,1910,1739,2081,0,0,0,0,0,0,28.83,28.83,25.06
$GC,2099,2.02,262.2,2797,1990,1742,2081,31.3,14.6,261,2127,0.15,2.30,20.95,0.487,10756,0.081,0.058,2868,597,1787,1622,1953,0,0,0,0,0,0,26.24,25.89,25.07
$GC,2159,2.02,262.2,2868,597,1624,1952,20.8,18.2,272,2166,0.00,2.25,0.00,0.000,1030,0.000,0.044,2868,2003,1788,1624,1952,0,0,0,0,0,0,28.83,25.97,28.83
$STATE,2262,end climb,SURFACE_DEPTH_REACHED
$STATE,2263,begin surface coast
$FINISH,0.9,1.021471
$STATE,2274,end surface coast,CONTROL_FINISHED_OK
$STATE,2274,begin surface
$SM_CCo,2294,14.80,0.050,0,0,1639,300.00
$SM_GC,2.87,7.50,0.20,14.80,0.047,0.070,0.050,96,1913,1639,-10.58,0.71,300.00,0,0,0,0,0,0,25.94,26.17,26.04
$IRIDIUM_FIX,4703.87,-12223.89,210921,114254
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.19
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,19.50
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,160.5,23.1
$SC_FREEKB,3967904
$24V_AH,24.34,9.305
$10V_AH,9.43,5.556
$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,18.550,22.975,353.050,14.800,0.000,0.000,0.000,396.075,6.750,0.000,13.313,601.449,991.168,421.914,836.478,224.597,33.276,1112.105,0.000,435.209,0.000,17.542,0.000
$DEVICE_MAMPS,257.040,74.970,579.105,49.725,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2283.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.426,0.000,0.000,0.000
$MEM,203656
$DATA_FILE_SIZE,10121,284
$CAP_FILE_SIZE,54226,0
$CFSIZE,260034560,246202368
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3264.83,0x239dd2,7,5
$INTR,1,26.69,0x2369a0,0,24
$CURRENT,0.058,139.8,1
$GPS,190714,015527,4726.280,-12222.565,12,4.5,32,18.1