version: 66.12
glider: 124
mission: 17
dive: 168
start: 7 20 114 3 10 41
data:
$ID,124
$MISSION,17
$DIVE,168
$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,-309264.5
$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,28
$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
$GPS1,200714,030315,4726.115,-12222.422,11,2.4,31,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-63.9
$GPS2,200714,030935,4726.157,-12222.427,13,1.4,29,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.165,0.237
$KALMAN_X,-13729.1,54.9,-63.8,11993.2,88.4
$KALMAN_Y,15687.4,32.9,126.1,-12851.4,-70.8
$MHEAD_RNG_PITCHd_Wd,310.7,400,-26.4,-16.667,-30.00,1390
$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,-1.75,-161.4,94,1914,1532,1742,0.0,0.0,0,103,0.00,0.00,-80.28,0.000,16386,0.000,0.000,94,1914,2950,2992,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.77,-180.8,94,1914,2992,2910,3.4,-2.1,8,142,8.55,2.30,-17.48,0.000,18948,0.260,0.078,2018,510,3602,3674,3531,0,0,0,0,0,0,25.27,26.03,26.60
$GC,372,-1.65,-180.8,2019,510,3674,3532,68.4,-24.2,59,379,0.12,2.25,0.00,0.000,3078,0.202,0.046,2048,1931,3604,3675,3533,0,0,0,0,0,0,25.81,26.15,28.83
$GC,559,-1.65,-180.8,2048,1931,3675,3532,106.1,-19.3,78,564,0.00,2.28,0.00,0.000,516,0.000,0.054,2048,510,3603,3675,3532,0,0,0,0,0,0,28.83,26.15,28.83
$GC,603,-1.65,-180.8,2049,509,3674,3532,115.5,-20.0,86,609,0.00,2.22,0.00,0.000,1030,0.000,0.044,2049,1916,3603,3675,3532,0,0,0,0,0,0,28.83,26.23,28.83
$GC,800,-1.65,-180.8,2049,1916,3674,3532,150.9,-18.4,106,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,1916,3603,3674,3532,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,927,begin apogee
$GC,935,-0.47,0.0,2049,2029,3674,3532,173.3,-17.4,119,1089,0.82,0.00,142.98,0.579,10246,0.144,0.000,2302,2029,2859,2767,2951,0,0,0,0,0,0,25.66,28.83,24.46
$STATE,1091,end apogee,CONTROL_FINISHED_OK
$STATE,1091,begin climb
$GC,1094,1.77,180.8,2302,2029,2765,2951,182.3,0.0,135,1252,1.48,2.42,147.30,0.555,10756,0.090,0.052,2808,594,2119,1947,2292,0,0,0,0,0,0,25.27,25.10,24.34
$GC,1304,1.77,180.8,2807,594,1947,2285,158.4,18.7,174,1311,0.00,2.28,0.00,0.000,1030,0.000,0.042,2808,1990,2116,1947,2285,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1490,1.77,181.5,2808,1989,1947,2279,126.7,16.6,193,1496,0.00,2.28,0.00,0.000,260,0.000,0.053,2808,3426,2112,1946,2279,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1529,1.77,181.5,2808,3425,1947,2276,119.8,17.0,200,1536,0.10,2.30,0.00,0.000,5126,0.178,0.045,2795,1998,2111,1947,2276,0,0,0,0,0,0,25.75,25.93,28.83
$GC,1715,1.87,213.4,2795,1998,1947,2276,92.0,14.3,219,1748,0.10,2.33,26.30,0.512,10756,0.103,0.055,2851,580,1989,1825,2153,0,0,0,0,0,0,26.32,25.88,25.03
$GC,1776,1.87,213.4,2851,580,1825,2151,81.7,18.8,230,1784,0.15,2.28,0.00,0.000,5126,0.148,0.042,2812,2007,1987,1825,2150,0,0,0,0,0,0,25.72,25.97,28.83
$GC,1963,1.96,224.5,2812,2007,1825,2149,52.8,15.8,249,1980,0.10,2.22,10.15,0.473,10500,0.102,0.050,2855,3421,1944,1782,2106,0,0,0,0,0,0,26.32,26.03,25.05
$GC,2032,1.96,224.5,2855,3421,1782,2103,40.0,19.5,261,2039,0.12,2.30,0.00,0.000,5126,0.162,0.045,2835,1985,1942,1782,2103,0,0,0,0,0,0,25.84,26.06,28.83
$GC,2228,2.08,261.6,2835,1986,1781,2101,8.3,13.9,281,2250,0.10,0.00,15.23,0.057,10502,0.108,0.000,2875,1985,1795,1634,1956,0,0,0,0,0,0,26.39,28.83,26.10
$STATE,2265,end climb,SURFACE_DEPTH_REACHED
$STATE,2265,begin surface coast
$FINISH,0.8,1.021641
$STATE,2276,end surface coast,CONTROL_FINISHED_OK
$STATE,2276,begin surface
$SM_CCo,2298,15.85,0.049,0,0,1639,300.00
$SM_GC,2.29,7.47,0.10,15.85,0.045,0.116,0.049,90,1924,1639,-10.59,0.88,300.00,0,0,0,0,0,0,26.10,26.36,26.14
$IRIDIUM_FIX,4707.04,-12222.91,220921,125122
$TT8_MAMPS,0.029211,0.029211
$HUMID,66.18
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,171.5,34.3
$SC_FREEKB,3955232
$24V_AH,24.34,11.381
$10V_AH,9.63,6.744
$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,19.125,27.700,341.950,15.850,0.000,0.000,0.000,196.150,5.500,0.000,30.232,601.193,807.008,413.510,675.484,214.976,33.275,914.443,0.000,446.220,0.000,19.216,0.000
$DEVICE_MAMPS,260.100,116.280,579.105,48.960,0.000,0.000,0.000,113.985,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2286.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.280,0.000,0.000,0.000
$MEM,203656
$DATA_FILE_SIZE,10142,288
$CAP_FILE_SIZE,52808,0
$CFSIZE,260034560,245026816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2894.47,0x239dd2,7,5
$CURRENT,0.053,133.0,1
$GPS,200714,035013,4726.324,-12222.592,13,1.8,13,18.1