version: 66.12
glider: 124
mission: 17
dive: 153
start: 7 19 114 15 28 27
data:
$ID,124
$MISSION,17
$DIVE,153
$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,-309245.75
$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,32
$R_STBD_OVSHOOT,23
$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
$GPS1,190714,152121,4726.386,-12222.424,10,3.6,30,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-66.2
$GPS2,190714,152721,4726.405,-12222.424,10,2.7,30,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.304,0.011
$KALMAN_X,-12920.6,-173.7,-30.4,11385.5,401.2
$KALMAN_Y,14554.1,307.9,32.5,-11438.7,-129.6
$MHEAD_RNG_PITCHd_Wd,230.1,237,-26.4,-16.667,-30.00,1390
$D_GRID,164
$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,-161.4,88,1914,1541,1740,0.0,0.0,0,94,0.00,0.00,-70.38,0.000,16386,0.000,0.000,88,1914,2826,2851,2802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.77,-180.8,87,1914,2850,2804,3.1,-1.7,7,136,8.52,2.30,-22.85,0.000,18948,0.259,0.069,2021,511,3600,3675,3526,0,0,0,0,0,0,25.29,26.00,26.58
$GC,309,-1.65,-180.8,2021,511,3676,3527,49.2,-21.7,47,315,0.12,2.25,0.00,0.000,3078,0.203,0.046,2050,1929,3602,3676,3528,0,0,0,0,0,0,25.79,26.13,28.83
$GC,504,-1.65,-180.8,2050,1929,3675,3528,88.6,-20.0,67,509,0.00,2.30,0.00,0.000,516,0.000,0.057,2050,507,3602,3676,3528,0,0,0,0,0,0,28.83,26.12,28.83
$GC,583,-1.65,-180.8,2050,507,3675,3528,105.1,-20.0,82,589,0.00,2.25,0.00,0.000,1030,0.000,0.046,2050,1932,3601,3675,3528,0,0,0,0,0,0,28.83,26.22,28.83
$GC,768,-1.65,-180.8,2050,1932,3675,3528,140.0,-17.7,101,775,0.00,2.17,0.00,0.000,260,0.000,0.057,2053,3321,3601,3675,3528,0,0,0,0,0,0,28.83,26.14,28.83
$GC,837,-1.65,-180.8,2050,3321,3675,3528,153.4,-18.8,113,843,0.00,2.22,0.00,0.000,1030,0.000,0.047,2050,1920,3601,3675,3527,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,889,begin apogee
$GC,897,-0.47,0.0,2050,2002,3675,3527,165.1,-21.5,119,1047,0.80,0.00,142.60,0.569,10246,0.142,0.000,2301,2002,2860,2771,2950,0,0,0,0,0,0,25.70,28.83,24.46
$STATE,1049,end apogee,CONTROL_FINISHED_OK
$STATE,1049,begin climb
$GC,1052,1.77,180.8,2300,2002,2769,2946,174.0,0.0,134,1205,1.48,0.00,144.88,0.548,10758,0.093,0.000,2792,2002,2121,1958,2284,0,0,0,0,0,0,25.25,28.83,24.36
$GC,1385,1.83,180.8,2792,2001,1957,2272,132.5,17.0,172,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2002,2114,1957,2272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1566,1.95,205.3,2791,2001,1957,2269,102.8,14.9,190,1592,0.12,2.25,19.62,0.510,10500,0.090,0.055,2851,3410,2023,1868,2178,0,0,0,0,0,0,26.20,25.86,24.98
$GC,1645,1.89,205.3,2851,3410,1869,2174,88.5,19.3,204,1651,0.15,2.28,0.00,0.000,5126,0.161,0.046,2825,1996,2021,1868,2174,0,0,0,0,0,0,25.69,25.95,28.83
$GC,1840,1.89,205.3,2824,1996,1868,2172,54.6,17.1,224,1845,0.00,2.22,0.00,0.000,516,0.000,0.057,2834,580,2020,1868,2172,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1925,1.89,205.3,2834,580,1868,2172,39.9,17.2,240,1930,0.00,2.25,0.00,0.000,1030,0.000,0.044,2834,2004,2020,1868,2172,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2119,2.01,240.7,2834,2004,1868,2171,10.8,14.1,260,2141,0.00,2.22,14.55,0.061,8452,0.000,0.053,2834,3414,1882,1726,2038,0,0,0,0,0,0,28.83,26.10,26.13
$STATE,2166,end climb,SURFACE_DEPTH_REACHED
$STATE,2166,begin surface coast
$FINISH,0.9,1.021630
$STATE,2179,end surface coast,CONTROL_FINISHED_OK
$STATE,2179,begin surface
$SM_CCo,2202,24.10,0.048,0,0,1639,300.00
$SM_GC,1.29,7.38,2.45,24.10,0.048,0.048,0.048,94,1921,1639,-10.58,0.96,300.00,0,0,0,0,0,0,26.09,26.19,26.20
$IRIDIUM_FIX,4710.21,-12220.22,220921,011854
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.35
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.80
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,150.8,50.0
$SC_FREEKB,3960992
$24V_AH,24.36,10.461
$10V_AH,9.25,6.197
$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,18.575,27.350,321.650,24.100,0.000,0.000,0.000,177.625,3.750,0.000,31.246,588.986,776.011,408.314,627.021,205.660,33.277,861.276,0.000,419.186,0.000,10.299,0.000
$DEVICE_MAMPS,258.570,77.265,569.160,48.195,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2187.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.977,0.000,0.000,0.000
$MEM,203708
$DATA_FILE_SIZE,10146,271
$CAP_FILE_SIZE,49330,0
$CFSIZE,260034560,245563392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2322.09,0x239dd2,7,5
$CURRENT,0.085,105.8,1
$GPS,190714,160651,4726.246,-12222.655,12,2.1,32,18.1