version: 66.12
glider: 124
mission: 17
dive: 170
start: 7 20 114 4 51 24
data:
$ID,124
$MISSION,17
$DIVE,170
$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,-309267
$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,35
$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
$GPS1,200714,044101,4726.061,-12222.136,7,1.8,7,18.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-68.7
$GPS2,200714,045019,4726.118,-12222.137,12,1.8,12,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.238,0.189
$KALMAN_X,-12833.4,96.2,72.6,11266.8,262.2
$KALMAN_Y,14968.4,-20.9,4.5,-12013.8,-222.8
$MHEAD_RNG_PITCHd_Wd,283.0,703,-25.0,-16.667,-28.75,1541
$D_GRID,167
$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,-180.8,94,1906,1535,1739,0.0,0.0,0,93,0.00,0.00,-69.62,0.000,16386,0.000,0.000,95,1906,2778,2797,2759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.69,-180.8,94,1906,2797,2761,3.0,-1.8,7,140,8.52,2.22,-26.02,0.000,18948,0.256,0.069,2037,513,3601,3671,3532,0,0,0,0,0,0,25.26,25.96,26.55
$GC,351,-1.60,-180.8,2037,513,3672,3533,58.7,-21.9,56,359,0.10,2.25,0.00,0.000,3078,0.201,0.044,2060,1934,3602,3672,3533,0,0,0,0,0,0,25.86,26.13,28.83
$GC,537,-1.60,-180.8,2060,1934,3672,3533,94.8,-19.0,75,543,0.00,2.30,0.00,0.000,516,0.000,0.056,2061,506,3602,3671,3533,0,0,0,0,0,0,28.83,26.10,28.83
$GC,571,-1.60,-180.8,2060,506,3671,3533,101.6,-19.9,81,578,0.00,2.25,0.00,0.000,1030,0.000,0.044,2060,1933,3602,3671,3533,0,0,0,0,0,0,28.83,26.19,28.83
$GC,766,-1.60,-180.8,2060,1933,3671,3533,136.7,-18.2,101,773,0.00,2.17,0.00,0.000,260,0.000,0.054,2060,3331,3602,3671,3533,0,0,0,0,0,0,28.83,26.13,28.83
$GC,833,-1.60,-180.8,2060,3331,3671,3533,149.2,-20.6,113,842,0.00,2.22,0.00,0.000,1030,0.000,0.046,2061,1931,3602,3671,3533,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,931,begin apogee
$GC,939,-0.47,0.0,2060,2008,3671,3533,168.6,-18.4,123,1092,0.77,0.00,143.10,0.571,10246,0.136,0.000,2306,2009,2857,2764,2951,0,0,0,0,0,0,25.67,28.83,24.47
$STATE,1094,end apogee,CONTROL_FINISHED_OK
$STATE,1094,begin climb
$GC,1098,1.69,180.8,2306,2009,2763,2951,178.9,0.0,139,1254,1.40,2.38,144.80,0.552,10500,0.090,0.051,2777,3411,2120,1946,2294,0,0,0,0,0,0,25.27,25.12,24.35
$GC,1309,1.73,215.5,2776,3411,1946,2285,158.6,14.4,171,1345,0.00,2.33,28.85,0.530,9222,0.000,0.044,2786,1984,1980,1805,2155,0,0,0,0,0,0,28.83,25.51,24.49
$GC,1535,1.74,227.6,2786,1984,1806,2148,123.5,15.9,197,1551,0.00,2.33,10.90,0.500,8452,0.000,0.050,2786,3408,1931,1761,2101,0,0,0,0,0,0,28.83,25.81,24.80
$GC,1565,1.76,239.3,2786,3410,1761,2099,118.6,15.9,202,1582,0.00,2.28,10.75,0.500,9222,0.000,0.044,2796,1996,1883,1714,2053,0,0,0,0,0,0,28.83,25.85,24.78
$GC,1762,1.77,246.8,2796,1996,1714,2051,85.1,16.2,223,1771,0.00,0.00,7.55,0.475,8198,0.000,0.000,2797,1996,1853,1686,2021,0,0,0,0,0,0,28.83,28.83,24.90
$GC,1952,1.87,257.7,2796,1996,1686,2017,55.3,15.9,242,1968,0.00,2.22,10.05,0.483,8708,0.000,0.055,2805,592,1809,1645,1973,0,0,0,0,0,0,28.83,26.01,25.01
$GC,1998,1.99,274.5,2804,591,1645,1972,48.0,15.5,250,2021,0.12,2.22,15.00,0.492,11270,0.088,0.042,2858,2001,1739,1582,1896,0,0,0,0,0,0,26.06,26.08,24.98
$GC,2200,1.99,274.5,2857,2001,1584,1895,11.8,17.6,272,2205,0.00,2.20,0.00,0.000,260,0.000,0.051,2857,3410,1739,1584,1895,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2224,1.99,274.5,2857,3410,1586,1893,7.7,17.1,276,2230,0.12,2.25,0.00,0.000,5126,0.160,0.045,2836,2005,1739,1586,1892,0,0,0,0,0,0,25.88,26.09,28.83
$STATE,2256,end climb,SURFACE_DEPTH_REACHED
$STATE,2256,begin surface coast
$FINISH,0.9,1.021248
$STATE,2267,end surface coast,CONTROL_FINISHED_OK
$STATE,2267,begin surface
$SM_CCo,2288,9.73,0.049,0,0,1639,300.00
$SM_GC,3.33,7.38,0.15,9.73,0.045,0.086,0.049,91,1898,1639,-10.60,0.48,300.00,0,0,0,0,0,0,26.06,26.27,26.10
$IRIDIUM_FIX,4713.38,-12219.23,220921,142627
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.59
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.50
$XPDR_PINGS,11
$SC_FREEKB,3954464
$24V_AH,24.35,11.510
$10V_AH,9.43,6.820
$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,18.425,31.950,371.000,9.725,0.000,0.000,0.000,266.625,4.500,0.000,13.472,593.892,910.027,436.836,716.424,215.512,33.279,1006.481,0.000,430.940,0.000,14.471,0.000
$DEVICE_MAMPS,255.510,85.680,571.455,48.960,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2276.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.667,0.000,0.000,0.000
$MEM,203728
$DATA_FILE_SIZE,10116,281
$CAP_FILE_SIZE,54503,0
$CFSIZE,260034560,244944896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3256.21,0x239dd2,7,5
$CURRENT,0.035,112.6,1
$GPS,200714,053112,4726.258,-12222.497,33,1.4,44,18.1