version: 66.12
glider: 124
mission: 17
dive: 154
start: 7 19 114 16 13 34
data:
$ID,124
$MISSION,17
$DIVE,154
$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,-309247
$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,32
$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
$GPS1,190714,160651,4726.246,-12222.655,12,2.1,32,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-66.1
$GPS2,190714,161228,4726.266,-12222.594,17,2.0,26,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.218,0.190
$KALMAN_X,-12831.6,-76.0,168.2,10786.1,356.0
$KALMAN_Y,14437.8,250.9,-54.6,-11434.0,-164.8
$MHEAD_RNG_PITCHd_Wd,327.7,143,-26.4,-16.667,-30.00,1390
$D_GRID,179
$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,20,-1.75,-161.4,94,1921,1535,1743,0.0,0.0,0,102,0.00,0.00,-79.50,0.000,16386,0.000,0.000,94,1921,2978,3024,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.77,-180.8,94,1921,3024,2933,3.7,-2.6,8,140,8.43,2.25,-16.25,0.000,18948,0.256,0.067,2020,503,3601,3677,3526,0,0,0,0,0,0,25.30,26.01,26.62
$GC,360,-1.64,-180.8,2019,503,3677,3526,65.1,-23.0,57,368,0.15,2.25,0.00,0.000,3078,0.198,0.045,2056,1918,3601,3677,3526,0,0,0,0,0,0,25.75,26.17,28.83
$GC,547,-1.64,-180.8,2056,1918,3677,3526,102.6,-18.0,76,552,0.00,2.22,0.00,0.000,260,0.000,0.056,2056,3338,3601,3677,3526,0,0,0,0,0,0,28.83,26.11,28.83
$GC,632,-1.64,-180.8,2056,3338,3677,3526,117.6,-18.1,92,637,0.00,2.28,0.00,0.000,1030,0.000,0.047,2056,1914,3601,3677,3526,0,0,0,0,0,0,28.83,26.24,28.83
$GC,826,-1.64,-180.8,2055,1914,3676,3527,152.7,-17.7,112,832,0.00,2.20,0.00,0.000,516,0.000,0.057,2056,506,3601,3677,3526,0,0,0,0,0,0,28.83,26.16,28.83
$GC,867,-1.64,-180.8,2056,506,3676,3527,160.5,-19.5,119,873,0.00,2.25,0.00,0.000,1030,0.000,0.047,2056,1931,3601,3676,3527,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,976,begin apogee
$GC,985,-0.47,0.0,2055,2006,3676,3527,180.4,-18.2,130,1135,0.80,0.00,142.23,0.587,10246,0.145,0.000,2304,2006,2859,2771,2948,0,0,0,0,0,0,25.64,28.83,24.44
$STATE,1136,end apogee,CONTROL_FINISHED_OK
$STATE,1136,begin climb
$GC,1140,1.77,180.8,2303,2006,2769,2947,190.6,0.0,146,1295,1.48,2.38,146.93,0.563,10500,0.093,0.053,2795,3405,2121,1955,2287,0,0,0,0,0,0,25.24,25.10,24.33
$GC,1330,1.77,180.8,2795,3404,1954,2279,169.8,20.2,179,1335,0.00,2.33,0.00,0.000,1030,0.000,0.046,2804,1992,2116,1954,2279,0,0,0,0,0,0,28.83,25.39,28.83
$GC,1524,1.77,180.8,2804,1992,1954,2274,132.8,17.3,199,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1991,2114,1954,2274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1704,1.77,180.8,2804,1992,1954,2272,101.6,17.8,217,1710,0.00,2.22,0.00,0.000,516,0.000,0.055,2815,583,2113,1954,2272,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1733,1.77,180.8,2815,583,1954,2272,96.2,18.0,222,1740,0.00,2.25,0.00,0.000,1030,0.000,0.044,2815,2000,2113,1955,2271,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1919,1.79,195.7,2815,2000,1955,2269,66.5,15.6,241,1936,0.00,2.30,11.65,0.489,8452,0.000,0.054,2815,3414,2061,1905,2218,0,0,0,0,0,0,28.83,26.10,25.15
$GC,1955,1.80,206.4,2815,3414,1905,2217,61.0,15.9,247,1972,0.10,2.28,10.00,0.472,13318,0.174,0.046,2803,1986,2018,1861,2175,0,0,0,0,0,0,25.94,26.10,25.08
$GC,2162,1.93,226.0,2802,1987,1861,2172,30.1,15.2,269,2180,0.10,0.00,13.23,0.471,10758,0.099,0.000,2846,1985,1938,1781,2095,0,0,0,0,0,0,26.38,28.83,25.13
$STATE,2338,end climb,SURFACE_DEPTH_REACHED
$STATE,2338,begin surface coast
$FINISH,0.9,1.011159
$STATE,2359,end surface coast,CONTROL_FINISHED_OK
$STATE,2359,begin surface
$SM_CCo,2381,29.80,0.048,0,0,1638,300.00
$SM_GC,1.61,7.43,0.10,29.80,0.048,0.108,0.048,95,1915,1638,-10.58,0.85,300.00,0,0,0,0,0,0,26.08,26.36,26.14
$IRIDIUM_FIX,4710.21,-12215.83,220921,015732
$TT8_MAMPS,0.027713,0.027713
$HUMID,65.63
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,10
$SC_FREEKB,3960608
$24V_AH,24.33,10.519
$10V_AH,9.48,6.234
$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,18.475,27.400,324.025,29.800,0.000,0.000,0.000,157.550,4.500,0.000,27.461,623.738,888.611,409.698,633.402,210.870,33.267,865.784,0.000,447.336,0.000,14.937,0.000
$DEVICE_MAMPS,256.275,113.220,586.755,48.195,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2368.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.284,0.000,0.000,0.000
$MEM,203656
$DATA_FILE_SIZE,10151,290
$CAP_FILE_SIZE,52406,0
$CFSIZE,260034560,245530624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2705.51,0x239dd2,7,5
$CURRENT,0.034,273.9,1
$GPS,190714,165457,4726.584,-12222.790,7,5.0,27,18.1