version: 66.12
glider: 124
mission: 17
dive: 148
start: 7 19 114 11 50 22
data:
$ID,124
$MISSION,17
$DIVE,148
$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,-309239.5
$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,32
$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
$GPS1,190714,114318,4725.861,-12222.711,8,1.4,8,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-67.4
$GPS2,190714,114918,4725.909,-12222.726,10,1.9,10,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.086,0.291
$KALMAN_X,-13646.0,-213.3,-412.5,12152.6,-33.9
$KALMAN_Y,14560.0,333.7,255.3,-12610.3,74.2
$MHEAD_RNG_PITCHd_Wd,3.6,821,-25.0,-16.667,-28.75,1541
$D_GRID,173
$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,17,begin dive
$GC,20,-1.69,-180.8,96,1918,1527,1756,0.0,0.0,0,93,0.00,0.00,-70.05,0.000,16386,0.000,0.000,95,1918,2793,2814,2772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.69,-180.8,95,1918,2814,2773,3.0,-1.7,7,141,8.50,2.35,-27.65,0.000,18692,0.256,0.069,2036,3326,3600,3674,3526,0,0,0,0,0,0,25.29,25.94,26.58
$GC,371,-1.62,-180.8,2035,3326,3674,3529,58.6,-22.1,60,378,0.00,2.25,0.00,0.000,1030,0.000,0.047,2036,1925,3601,3674,3529,0,0,0,0,0,0,28.83,26.13,28.83
$GC,558,-1.55,-180.8,2036,1926,3674,3529,96.3,-20.1,79,564,0.12,2.30,0.00,0.000,2308,0.188,0.054,2073,3338,3601,3674,3529,0,0,0,0,0,0,26.10,26.10,28.83
$GC,665,-1.62,-180.8,2073,3338,3672,3529,114.4,-16.1,99,670,0.00,2.28,0.00,0.000,1030,0.000,0.048,2074,1916,3601,3674,3529,0,0,0,0,0,0,28.83,26.21,28.83
$GC,859,-1.62,-180.8,2074,1916,3677,3529,146.5,-16.8,119,864,0.00,2.20,0.00,0.000,516,0.000,0.057,2074,506,3601,3673,3529,0,0,0,0,0,0,28.83,26.15,28.83
$GC,887,-1.62,-180.8,2073,506,3673,3529,151.6,-17.5,124,894,0.00,2.25,0.00,0.000,1030,0.000,0.046,2073,1929,3601,3673,3529,0,0,0,0,0,0,28.83,26.24,28.83
$STATE,1010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1010,begin apogee
$GC,1021,-0.47,0.0,2073,2016,3673,3529,173.1,-16.9,137,1175,0.73,0.00,143.75,0.582,10246,0.138,0.000,2303,2016,2858,2770,2946,0,0,0,0,0,0,25.70,28.83,24.45
$STATE,1176,end apogee,CONTROL_FINISHED_OK
$STATE,1176,begin climb
$GC,1180,1.69,180.8,2303,2016,2768,2945,180.4,0.0,153,1333,1.40,0.00,145.62,0.558,11014,0.087,0.000,2775,2016,2121,1951,2292,0,0,0,0,0,0,25.25,28.83,24.33
$GC,1513,1.70,191.5,2775,2016,1951,2283,144.4,16.0,198,1530,0.00,2.28,9.12,0.498,8452,0.000,0.055,2775,3403,2077,1912,2243,0,0,0,0,0,0,28.83,25.74,24.75
$GC,1569,1.71,200.5,2775,3403,1911,2242,135.9,16.1,208,1585,0.00,2.30,8.68,0.496,9222,0.000,0.047,2785,1987,2041,1876,2207,0,0,0,0,0,0,28.83,25.80,24.76
$GC,1774,1.73,214.3,2785,1987,1876,2205,102.6,15.7,230,1793,0.00,0.00,12.52,0.507,8198,0.000,0.000,2784,1987,1986,1824,2148,0,0,0,0,0,0,28.83,28.83,24.94
$GC,1974,1.75,231.2,2785,1987,1824,2148,70.8,15.5,250,1992,0.00,0.00,15.35,0.503,8454,0.000,0.000,2785,1987,1917,1754,2080,0,0,0,0,0,0,28.83,28.83,25.03
$GC,2175,1.88,271.3,2785,1987,1754,2079,40.9,14.0,271,2217,0.12,2.25,34.28,0.508,10756,0.088,0.056,2856,584,1751,1594,1908,0,0,0,0,0,0,26.29,25.79,24.97
$GC,2231,1.88,271.3,2855,585,1595,1908,31.4,17.2,281,2237,0.15,2.28,0.00,0.000,5126,0.145,0.045,2816,1998,1752,1596,1908,0,0,0,0,0,0,25.66,25.86,28.83
$STATE,2403,end climb,SURFACE_DEPTH_REACHED
$STATE,2403,begin surface coast
$FINISH,0.9,1.011284
$STATE,2424,end surface coast,CONTROL_FINISHED_OK
$STATE,2424,begin surface
$SM_CCo,2445,11.10,0.050,0,0,1638,300.00
$SM_GC,3.41,7.35,0.17,11.10,0.045,0.081,0.050,88,1924,1638,-10.61,1.02,300.00,0,0,0,0,0,0,25.98,26.16,26.03
$IRIDIUM_FIX,4713.38,-12219.23,210921,213023
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.63
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.40
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,131.3,55.4
$SC_FREEKB,3962912
$24V_AH,24.33,10.135
$10V_AH,9.35,6.033
$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,18.375,23.025,369.325,11.100,0.000,0.000,0.000,196.800,2.000,0.000,10.773,622.655,904.621,424.421,650.090,230.018,33.281,932.858,0.000,463.364,0.000,7.152,0.000
$DEVICE_MAMPS,256.275,101.745,582.165,49.725,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2434.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.226,0.000,0.000,0.000
$MEM,203992
$DATA_FILE_SIZE,10126,301
$CAP_FILE_SIZE,52485,0
$CFSIZE,260034560,245735424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2954.00,0x239dd2,7,5
$CURRENT,0.062,317.1,1
$GPS,190714,123256,4726.242,-12222.568,33,2.2,53,18.1