version: 66.12
glider: 124
mission: 17
dive: 141
start: 7 19 114 5 58 12
data:
$ID,124
$MISSION,17
$DIVE,141
$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,-309230.75
$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,28
$R_STBD_OVSHOOT,28
$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
$GPS1,190714,055133,4726.526,-12222.829,9,2.9,29,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-68.4
$GPS2,190714,055707,4726.532,-12222.897,13,1.8,13,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.178,-0.246
$KALMAN_X,-11916.6,-54.9,228.3,9413.8,83.7
$KALMAN_Y,13020.3,-8.9,-107.8,-9216.6,55.7
$MHEAD_RNG_PITCHd_Wd,107.1,522,-25.0,-16.667,-28.75,1541
$D_GRID,130
$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,-180.8,91,1915,1536,1754,0.0,0.0,0,93,0.00,0.00,-70.35,0.000,16386,0.000,0.000,91,1915,2824,2841,2807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.69,-180.8,91,1915,2842,2809,3.2,-1.7,7,136,8.57,2.33,-23.08,0.000,18948,0.258,0.070,2038,503,3601,3669,3533,0,0,0,0,0,0,25.29,25.99,26.57
$GC,188,-1.52,-180.8,2038,502,3670,3534,20.3,-24.4,23,195,0.15,2.28,0.00,0.000,3078,0.194,0.047,2075,1919,3602,3670,3535,0,0,0,0,0,0,25.65,26.03,28.83
$GC,374,-1.52,-180.8,2074,1920,3670,3535,60.8,-18.5,42,380,0.00,2.22,0.00,0.000,260,0.000,0.057,2075,3329,3603,3672,3535,0,0,0,0,0,0,28.83,26.02,28.83
$GC,419,-1.52,-180.8,2074,3329,3669,3535,69.3,-18.2,50,424,0.00,2.28,0.00,0.000,1030,0.000,0.048,2075,1921,3601,3669,3534,0,0,0,0,0,0,28.83,26.13,28.83
$GC,614,-1.52,-180.8,2075,1921,3669,3535,103.7,-15.5,70,619,0.00,2.22,0.00,0.000,516,0.000,0.057,2075,504,3602,3669,3535,0,0,0,0,0,0,28.83,26.10,28.83
$GC,673,-1.52,-180.8,2075,504,3669,3535,113.7,-17.7,81,681,0.00,2.25,0.00,0.000,1030,0.000,0.046,2075,1926,3602,3669,3535,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,783,begin apogee
$GC,791,-0.47,0.0,2075,2010,3669,3535,131.5,-16.5,92,941,0.73,0.00,142.60,0.551,10246,0.135,0.000,2305,2010,2859,2758,2961,0,0,0,0,0,0,25.68,28.83,24.51
$STATE,943,end apogee,CONTROL_FINISHED_OK
$STATE,943,begin climb
$GC,946,1.69,180.8,2305,2009,2755,2960,142.0,0.0,108,1102,1.40,0.00,145.88,0.534,10758,0.088,0.000,2778,2010,2120,1940,2301,0,0,0,0,0,0,25.27,28.83,24.39
$GC,1281,1.72,206.5,2777,2010,1943,2293,104.0,15.0,144,1309,0.00,0.00,21.17,0.506,8198,0.000,0.000,2778,2010,2016,1841,2192,0,0,0,0,0,0,28.83,28.83,24.78
$GC,1492,1.83,241.9,2778,2010,1841,2188,72.7,14.3,165,1529,0.12,0.00,29.95,0.496,10246,0.087,0.000,2834,2010,1871,1699,2044,0,0,0,0,0,0,26.14,28.83,24.90
$GC,1711,1.83,241.9,2834,2010,1705,2044,32.8,17.6,187,1717,0.10,2.33,0.00,0.000,4612,0.161,0.054,2819,590,1874,1705,2044,0,0,0,0,0,0,26.03,25.90,28.83
$GC,1740,1.84,243.4,2819,590,1706,2044,27.7,16.6,192,1747,0.00,2.25,0.00,0.000,1030,0.000,0.044,2819,2004,1874,1705,2044,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,1913,end climb,SURFACE_DEPTH_REACHED
$STATE,1913,begin surface coast
$FINISH,0.8,1.004599
$STATE,1934,end surface coast,CONTROL_FINISHED_OK
$STATE,1934,begin surface
$SM_CCo,1955,23.08,0.047,0,0,1638,300.00
$SM_GC,1.54,7.38,0.20,23.08,0.050,0.076,0.047,96,1911,1638,-10.58,0.74,300.00,0,0,0,0,0,0,26.00,26.25,26.12
$IRIDIUM_FIX,4707.04,-12229.98,210921,153952
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.83
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.60
$XPDR_PINGS,11
$SC_FREEKB,3965600
$24V_AH,24.39,9.655
$10V_AH,9.27,5.772
$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,18.450,18.475,339.600,23.075,0.000,0.000,0.000,167.800,3.500,0.000,13.803,472.819,721.226,430.874,510.843,194.027,33.286,832.067,0.000,336.675,0.000,6.940,0.000
$DEVICE_MAMPS,257.805,104.040,550.800,47.430,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1944.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,25.530,0.000,0.000,0.000
$MEM,203684
$DATA_FILE_SIZE,6828,212
$CAP_FILE_SIZE,42713,0
$CFSIZE,260034560,246005760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2883.84,0x239dd2,7,5
$CURRENT,0.162,288.4,1
$GPS,190714,063224,4726.421,-12222.800,11,1.6,28,18.1