version: 66.12
glider: 124
mission: 17
dive: 166
start: 7 20 114 1 33 16
data:
$ID,124
$MISSION,17
$DIVE,166
$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,-309262
$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,29
$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
$GPS1,200714,012633,4725.614,-12222.130,12,2.7,32,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-61.7
$GPS2,200714,013212,4725.631,-12222.099,13,1.1,30,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.149,0.265
$KALMAN_X,-13789.6,41.0,-196.0,12610.9,56.2
$KALMAN_Y,15700.5,49.4,198.7,-13925.2,-8.1
$MHEAD_RNG_PITCHd_Wd,321.3,1454,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.69,-180.8,90,1913,1530,1742,0.0,0.0,0,103,0.00,0.00,-79.75,0.000,16386,0.000,0.000,90,1913,2914,2951,2878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,90,1913,2951,2879,3.1,-1.8,8,146,8.50,2.28,-20.45,0.000,18948,0.256,0.069,2037,510,3601,3671,3531,0,0,0,0,0,0,25.30,26.01,26.58
$GC,344,-1.53,-180.8,2036,510,3672,3532,56.9,-22.2,53,352,0.15,2.25,0.00,0.000,3078,0.192,0.044,2074,1933,3602,3672,3532,0,0,0,0,0,0,25.75,26.15,28.83
$GC,531,-1.53,-180.8,2074,1933,3672,3532,94.7,-19.7,72,536,0.00,2.20,0.00,0.000,260,0.000,0.054,2074,3330,3602,3672,3532,0,0,0,0,0,0,28.83,26.11,28.83
$GC,600,-1.53,-180.8,2074,3330,3672,3532,106.7,-16.3,85,607,0.00,2.25,0.00,0.000,1030,0.000,0.045,2075,1914,3602,3672,3532,0,0,0,0,0,0,28.83,26.25,28.83
$GC,786,-1.53,-180.8,2074,1914,3672,3533,138.8,-17.0,104,791,0.00,2.20,0.00,0.000,516,0.000,0.056,2074,503,3601,3671,3532,0,0,0,0,0,0,28.83,26.16,28.83
$GC,837,-1.53,-180.8,2074,503,3671,3532,147.4,-16.5,113,845,0.00,2.22,0.00,0.000,1030,0.000,0.045,2075,1913,3602,3671,3533,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,1000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1001,begin apogee
$GC,1009,-0.47,0.0,2074,2029,3671,3532,173.3,-15.5,130,1159,0.73,0.00,143.18,0.577,10246,0.138,0.000,2300,2029,2860,2769,2951,0,0,0,0,0,0,25.75,28.83,24.46
$STATE,1161,end apogee,CONTROL_FINISHED_OK
$STATE,1161,begin climb
$GC,1164,1.69,180.8,2300,2029,2766,2951,181.9,0.0,145,1322,1.42,2.50,145.38,0.555,10756,0.092,0.054,2785,584,2120,1946,2294,0,0,0,0,0,0,25.26,25.11,24.35
$GC,1374,1.69,180.8,2785,584,1946,2289,160.4,18.2,184,1380,0.00,2.28,0.00,0.000,1030,0.000,0.041,2785,1989,2117,1946,2288,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1569,1.71,200.6,2785,1989,1946,2282,127.1,15.4,204,1592,0.00,2.33,15.85,0.513,8452,0.000,0.053,2786,3414,2042,1873,2211,0,0,0,0,0,0,28.83,25.80,24.88
$GC,1606,1.75,229.9,2785,3415,1873,2208,121.4,14.7,210,1638,0.00,2.30,25.98,0.521,9222,0.000,0.044,2795,1984,1921,1751,2092,0,0,0,0,0,0,28.83,25.84,24.76
$GC,1828,1.76,239.1,2795,1984,1751,2087,83.4,16.1,235,1843,0.00,2.28,8.18,0.475,8708,0.000,0.056,2802,590,1885,1718,2052,0,0,0,0,0,0,28.83,25.91,24.89
$GC,1873,1.76,243.6,2802,590,1718,2052,75.9,16.4,243,1884,0.00,2.25,4.65,0.438,9222,0.000,0.042,2802,2004,1868,1702,2035,0,0,0,0,0,0,28.83,25.97,24.72
$GC,2065,1.82,243.6,2802,2005,1704,2034,42.6,17.7,263,2070,0.00,2.20,0.00,0.000,260,0.000,0.052,2802,3412,1868,1703,2034,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2092,1.82,243.6,2802,3411,1704,2033,37.1,18.7,268,2100,0.00,2.28,0.00,0.000,1030,0.000,0.047,2811,1991,1868,1704,2033,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2280,1.99,305.0,2811,1991,1704,2032,10.9,12.6,287,2313,0.12,2.38,25.85,0.060,10500,0.088,0.050,2870,3416,1618,1457,1780,0,0,0,0,0,0,26.40,26.10,26.11
$STATE,2324,end climb,SURFACE_DEPTH_REACHED
$STATE,2324,begin surface coast
$FINISH,0.9,1.021737
$STATE,2338,end surface coast,CONTROL_FINISHED_OK
$STATE,2338,begin surface
$SM_CCo,2421,0.00,0.000,0,0,1622,304.17
$SM_GC,1.82,7.45,2.47,0.00,0.045,0.047,0.000,92,1915,1622,-10.59,0.59,304.17,0,0,0,0,0,0,26.09,26.14,28.83
$IRIDIUM_FIX,4713.38,-12041.98,220921,111319
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.86
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.40
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,160.9,29.2
$SC_FREEKB,3956000
$24V_AH,24.35,11.262
$10V_AH,9.55,6.669
$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,18.375,36.800,369.050,0.000,0.000,0.000,0.000,154.350,5.000,0.000,30.806,610.887,874.132,425.860,647.211,213.831,33.292,898.810,0.000,459.137,0.000,17.604,0.000
$DEVICE_MAMPS,256.275,84.915,576.810,0.000,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2345.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.354,0.000,0.000,0.000
$MEM,203676
$DATA_FILE_SIZE,10123,297
$CAP_FILE_SIZE,53849,0
$CFSIZE,260034560,245092352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2919.87,0x239dd2,7,5
$CURRENT,0.047,175.2,1
$GPS,200714,021506,4725.874,-12222.286,40,1.7,47,18.1