version: 66.12
glider: 124
mission: 17
dive: 137
start: 7 19 114 2 51 42
data:
$ID,124
$MISSION,17
$DIVE,137
$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,-309225.75
$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
$GPS1,190714,024435,4726.497,-12222.677,38,1.2,38,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-68.2
$GPS2,190714,025036,4726.518,-12222.653,10,1.7,10,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.027,-0.287
$KALMAN_X,-12168.3,-247.3,83.2,10301.8,104.1
$KALMAN_Y,12645.1,40.6,129.1,-9150.4,-106.8
$MHEAD_RNG_PITCHd_Wd,155.2,334,-26.4,-16.667,-30.00,1390
$D_GRID,154
$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,-161.4,94,1911,1536,1756,0.0,0.0,0,94,0.00,0.00,-70.47,0.000,16386,0.000,0.000,95,1911,2806,2822,2791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.77,-180.8,94,1912,2822,2792,3.1,-1.7,7,141,8.52,2.38,-24.48,0.000,18692,0.260,0.071,2022,3319,3601,3668,3535,0,0,0,0,0,0,25.32,25.96,26.58
$GC,186,-1.67,-180.8,2022,3319,3668,3536,18.7,-21.5,23,192,0.10,2.25,0.00,0.000,3078,0.199,0.048,2045,1921,3602,3668,3536,0,0,0,0,0,0,25.81,26.06,28.83
$GC,381,-1.67,-180.8,2045,1921,3668,3536,62.3,-20.7,43,386,0.00,2.28,0.00,0.000,260,0.000,0.056,2043,3322,3602,3668,3537,0,0,0,0,0,0,28.83,26.03,28.83
$GC,455,-1.67,-180.8,2043,3322,3668,3536,77.4,-20.0,57,461,0.00,2.25,0.00,0.000,1030,0.000,0.047,2043,1917,3601,3667,3536,0,0,0,0,0,0,28.83,26.15,28.83
$GC,650,-1.67,-180.8,2043,1917,3666,3537,115.4,-18.4,77,656,0.00,2.20,0.00,0.000,516,0.000,0.056,2043,509,3601,3666,3537,0,0,0,0,0,0,28.83,26.12,28.83
$GC,680,-1.67,-180.8,2043,508,3666,3537,121.7,-21.7,82,687,0.00,2.25,0.00,0.000,1030,0.000,0.046,2043,1931,3602,3666,3539,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,853,begin apogee
$GC,861,-0.47,0.0,2043,2006,3667,3536,155.7,-19.1,100,1012,0.85,0.00,143.55,0.568,10246,0.145,0.000,2301,2005,2861,2760,2962,0,0,0,0,0,0,25.62,28.83,24.48
$STATE,1014,end apogee,CONTROL_FINISHED_OK
$STATE,1014,begin climb
$GC,1017,1.77,180.8,2301,2005,2757,2961,167.2,0.0,115,1168,1.48,0.00,145.45,0.548,10758,0.086,0.000,2799,2006,2122,1943,2302,0,0,0,0,0,0,25.26,28.83,24.36
$GC,1347,1.78,185.4,2798,2006,1944,2293,124.1,16.3,160,1359,0.00,2.25,3.25,0.353,8452,0.000,0.054,2799,3409,2106,1935,2278,0,0,0,0,0,0,28.83,25.75,24.53
$GC,1373,1.81,210.1,2799,3409,1939,2279,120.2,14.9,164,1406,0.00,2.30,22.27,0.517,9222,0.000,0.047,2809,1986,2002,1829,2175,0,0,0,0,0,0,28.83,25.80,24.77
$GC,1584,1.81,210.1,2809,1987,1831,2174,82.9,17.0,188,1590,0.00,2.20,0.00,0.000,516,0.000,0.056,2819,595,2002,1831,2174,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1660,1.87,210.1,2819,595,1832,2174,69.9,17.9,202,1666,0.00,2.22,0.00,0.000,1030,0.000,0.044,2820,1992,2002,1832,2173,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1856,1.98,236.4,2819,1992,1833,2172,38.9,14.7,222,1888,0.08,2.30,22.45,0.492,10500,0.126,0.055,2854,3410,1894,1726,2062,0,0,0,0,0,0,26.40,25.97,25.12
$GC,1964,1.98,236.4,2854,3410,1730,2061,18.7,18.8,242,1970,0.10,2.28,0.00,0.000,5126,0.175,0.046,2842,1988,1895,1730,2061,0,0,0,0,0,0,25.83,26.01,28.83
$STATE,2055,end climb,SURFACE_DEPTH_REACHED
$STATE,2055,begin surface coast
$FINISH,1.4,1.021703
$STATE,2069,end surface coast,CONTROL_FINISHED_OK
$STATE,2069,begin surface
$SM_CCo,2090,25.42,0.048,0,0,1639,300.00
$SM_GC,1.34,7.40,0.10,25.42,0.047,0.112,0.048,95,1918,1639,-10.58,0.93,300.00,0,0,0,0,0,0,26.00,26.29,26.09
$IRIDIUM_FIX,4710.21,-12224.61,210921,123149
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.55
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.50
$XPDR_PINGS,6
$SC_FREEKB,3967136
$24V_AH,24.36,9.424
$10V_AH,9.27,5.629
$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,18.525,27.350,336.975,25.425,0.000,0.000,0.000,196.675,2.500,0.000,11.657,530.765,748.635,417.073,597.634,199.473,33.278,891.493,0.000,400.607,0.000,7.338,0.000
$DEVICE_MAMPS,260.100,111.690,568.395,48.195,0.000,0.000,0.000,117.810,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2078.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.039,0.000,0.000,0.000
$MEM,203724
$DATA_FILE_SIZE,6827,253
$CAP_FILE_SIZE,48217,0
$CFSIZE,260034560,246136832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2939.38,0x239dd2,7,5
$CURRENT,0.063,140.3,1
$GPS,190714,032812,4726.151,-12222.587,13,1.0,30,18.1