version: 66.12
glider: 124
mission: 17
dive: 150
start: 7 19 114 13 28 18
data:
$ID,124
$MISSION,17
$DIVE,150
$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,-309242
$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,34
$R_STBD_OVSHOOT,27
$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
$GPS1,190714,132103,4726.559,-12222.754,8,2.3,28,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-68.5
$GPS2,190714,132713,4726.556,-12222.802,16,1.6,16,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.152,-0.260
$KALMAN_X,-13733.8,-228.2,-294.6,12043.5,54.0
$KALMAN_Y,14628.8,358.3,208.5,-11459.7,-33.9
$MHEAD_RNG_PITCHd_Wd,125.6,477,-25.0,-16.667,-28.75,1541
$D_GRID,116
$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,-180.8,94,1913,1535,1745,0.0,0.0,0,93,0.00,0.00,-69.85,0.000,16386,0.000,0.000,94,1914,2837,2864,2811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.69,-180.8,94,1914,2864,2811,3.5,-2.3,7,135,8.60,2.25,-20.77,0.000,18948,0.259,0.070,2039,505,3602,3676,3528,0,0,0,0,0,0,25.25,25.96,26.56
$GC,220,-1.55,-180.8,2039,505,3678,3529,31.2,-22.6,30,227,0.12,2.30,0.00,0.000,3078,0.191,0.047,2070,1933,3603,3677,3530,0,0,0,0,0,0,25.74,26.07,28.83
$GC,406,-1.55,-180.8,2069,1933,3677,3530,67.7,-18.0,49,412,0.00,2.20,0.00,0.000,260,0.000,0.057,2069,3332,3603,3677,3529,0,0,0,0,0,0,28.83,26.03,28.83
$GC,441,-1.55,-180.8,2069,3332,3677,3530,74.0,-18.8,55,447,0.00,2.28,0.00,0.000,1030,0.000,0.049,2069,1917,3603,3677,3530,0,0,0,0,0,0,28.83,26.14,28.83
$GC,635,-1.55,-180.8,2069,1917,3676,3530,109.2,-17.6,75,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,1917,3603,3677,3529,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,672,begin apogee
$GC,680,-0.47,0.0,2069,2008,3677,3529,116.2,-17.1,79,826,0.75,0.00,140.98,0.542,10246,0.139,0.000,2304,2007,2860,2776,2945,0,0,0,0,0,0,25.65,28.83,24.52
$STATE,830,end apogee,CONTROL_FINISHED_OK
$STATE,830,begin climb
$GC,833,1.69,180.8,2304,2007,2773,2944,127.1,0.0,94,988,1.40,2.30,144.75,0.524,10500,0.090,0.053,2774,3406,2121,1952,2290,0,0,0,0,0,0,25.27,25.13,24.41
$GC,1098,1.69,180.8,2774,3406,1952,2280,100.2,17.9,145,1105,0.00,2.30,0.00,0.000,1030,0.000,0.046,2784,1994,2115,1952,2279,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1285,1.75,233.2,2784,1995,1952,2278,72.9,13.2,164,1336,0.00,2.28,43.62,0.496,8708,0.000,0.058,2786,594,1907,1740,2074,0,0,0,0,0,0,28.83,25.60,24.83
$GC,1394,1.88,266.3,2787,594,1740,2072,56.7,14.5,184,1431,0.12,2.28,27.62,0.483,11270,0.086,0.044,2842,2005,1773,1612,1935,0,0,0,0,0,0,25.80,25.81,24.75
$GC,1620,1.88,266.3,2841,2006,1612,1932,14.7,18.1,210,1626,0.10,0.00,0.00,0.000,4102,0.164,0.000,2818,2011,1772,1612,1932,0,0,0,0,0,0,25.98,28.83,28.83
$STATE,1686,end climb,SURFACE_DEPTH_REACHED
$STATE,1686,begin surface coast
$FINISH,1.0,1.021017
$STATE,1698,end surface coast,CONTROL_FINISHED_OK
$STATE,1698,begin surface
$SM_CCo,1719,13.10,0.049,0,0,1639,300.00
$SM_GC,2.93,7.38,0.20,13.10,0.047,0.072,0.049,94,1913,1639,-10.59,0.74,300.00,0,0,0,0,0,0,25.92,26.14,26.01
$IRIDIUM_FIX,4710.21,-12224.61,210921,230916
$TT8_MAMPS,0.029211,0.029211
$HUMID,64.76
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,19.60
$XPDR_PINGS,9
$SC_FREEKB,3962144
$24V_AH,24.41,10.254
$10V_AH,9.45,6.102
$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,18.475,18.575,356.975,13.100,0.000,0.000,0.000,199.400,2.250,0.000,17.077,427.529,554.148,399.838,549.446,188.090,33.276,855.570,0.000,341.051,0.000,0.994,0.000
$DEVICE_MAMPS,258.570,71.910,542.385,48.960,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1709.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,26.519,0.000,0.000,0.000
$MEM,203728
$DATA_FILE_SIZE,6821,218
$CAP_FILE_SIZE,40672,0
$CFSIZE,260034560,245673984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2919.47,0x239dd2,7,5
$CURRENT,0.026,166.7,1
$GPS,190714,135807,4726.336,-12222.564,12,1.6,12,18.1