version: 66.12
glider: 124
mission: 17
dive: 171
start: 7 20 114 5 38 13
data:
$ID,124
$MISSION,17
$DIVE,171
$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,-309268.25
$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,31
$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
$GPS1,200714,053112,4726.258,-12222.497,33,1.4,44,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-67.1
$GPS2,200714,053706,4726.303,-12222.487,10,1.5,15,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.223,0.183
$KALMAN_X,-12812.1,91.1,139.6,10765.5,328.0
$KALMAN_Y,14960.4,-22.2,-60.5,-11613.6,-300.9
$MHEAD_RNG_PITCHd_Wd,280.8,147,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-1.75,-161.4,90,1898,1533,1743,0.0,0.0,0,93,0.00,0.00,-70.00,0.000,16386,0.000,0.000,91,1898,2793,2814,2773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.77,-180.8,90,1898,2814,2774,3.2,-2.0,7,140,8.48,2.25,-24.62,0.000,18948,0.256,0.067,2022,508,3601,3671,3531,0,0,0,0,0,0,25.27,25.99,26.58
$GC,342,-1.71,-180.8,2022,508,3672,3532,59.4,-22.7,54,349,0.00,2.25,0.00,0.000,1030,0.000,0.044,2022,1933,3602,3672,3532,0,0,0,0,0,0,28.83,26.15,28.83
$GC,527,-1.71,-180.8,2022,1934,3671,3533,98.7,-21.1,73,534,0.00,2.30,0.00,0.000,516,0.000,0.054,2022,510,3602,3672,3533,0,0,0,0,0,0,28.83,26.14,28.83
$GC,563,-1.63,-180.8,2022,510,3671,3532,106.2,-20.8,79,570,0.12,2.25,0.00,0.000,3078,0.191,0.045,2052,1933,3601,3671,3531,0,0,0,0,0,0,25.89,26.21,28.83
$GC,761,-1.63,-180.8,2051,1933,3671,3532,141.0,-16.7,99,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1933,3601,3671,3532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,949,-1.63,-180.8,2052,1933,3671,3533,173.9,-18.2,118,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1933,3602,3671,3533,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,976,begin apogee
$GC,984,-0.47,0.0,2052,2006,3671,3532,179.4,-18.5,121,1134,0.80,0.00,143.45,0.586,10246,0.138,0.000,2305,2006,2860,2769,2952,0,0,0,0,0,0,25.72,28.83,24.41
$STATE,1136,end apogee,CONTROL_FINISHED_OK
$STATE,1136,begin climb
$GC,1139,1.77,180.8,2305,2006,2765,2951,190.2,0.0,136,1302,1.45,2.35,146.90,0.562,10500,0.089,0.053,2794,3407,2119,1946,2292,0,0,0,0,0,0,25.26,25.12,24.33
$GC,1327,1.80,208.3,2794,3407,1947,2290,175.2,14.6,158,1358,0.00,2.33,23.27,0.536,9222,0.000,0.047,2802,2001,2009,1834,2185,0,0,0,0,0,0,28.83,25.40,24.44
$GC,1538,1.87,210.9,2802,2001,1834,2179,141.1,16.5,182,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2001,2006,1834,2178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1728,1.95,210.9,2802,2001,1834,2176,108.5,17.0,201,1735,0.12,2.25,0.00,0.000,2564,0.090,0.054,2868,577,2005,1834,2176,0,0,0,0,0,0,26.25,25.96,28.83
$GC,1760,1.95,210.9,2868,577,1835,2175,103.1,18.3,206,1767,0.15,2.25,0.00,0.000,5126,0.150,0.043,2829,1995,2004,1835,2174,0,0,0,0,0,0,25.81,26.09,28.83
$GC,1946,1.95,210.9,2828,1995,1835,2173,69.8,17.4,225,1953,0.00,2.28,0.00,0.000,516,0.000,0.053,2838,577,2004,1836,2173,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2006,1.95,213.5,2837,577,1835,2173,60.0,16.5,236,2018,0.00,2.25,3.70,0.385,9222,0.000,0.042,2838,2005,1991,1825,2157,0,0,0,0,0,0,28.83,26.21,24.75
$GC,2208,2.04,228.6,2837,2004,1829,2157,29.3,15.5,257,2224,0.00,2.20,10.68,0.468,8452,0.000,0.052,2837,3410,1926,1762,2091,0,0,0,0,0,0,28.83,26.19,25.15
$GC,2368,2.07,258.9,2838,3410,1763,2087,4.7,14.4,288,2382,0.00,2.28,8.15,0.050,9218,0.000,0.044,2848,1983,1844,1681,2007,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,2383,end climb,SURFACE_DEPTH_REACHED
$STATE,2383,begin surface coast
$FINISH,0.8,1.021338
$STATE,2403,end surface coast,CONTROL_FINISHED_OK
$STATE,2403,begin surface
$SM_CCo,2424,20.65,0.050,0,0,1639,300.00
$SM_GC,1.78,7.40,0.10,20.65,0.047,0.107,0.050,95,1915,1639,-10.58,0.76,300.00,0,0,0,0,0,0,26.13,26.45,26.20
$IRIDIUM_FIX,4713.38,-12219.23,220921,152037
$TT8_MAMPS,0.029211,0.029211
$HUMID,66.14
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.80
$XPDR_PINGS,13
$SC_FREEKB,3954080
$24V_AH,24.33,11.569
$10V_AH,9.63,6.858
$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,18.525,27.425,336.150,20.650,0.000,0.000,0.000,184.725,5.000,0.000,15.814,641.822,869.363,435.781,655.906,215.168,33.277,917.498,0.000,461.391,0.000,13.378,0.000
$DEVICE_MAMPS,256.275,110.925,585.990,49.725,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2411.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.321,0.000,0.000,0.000
$MEM,203676
$DATA_FILE_SIZE,10165,294
$CAP_FILE_SIZE,53876,0
$CFSIZE,260034560,244908032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2807.83,0x239dd2,7,5
$CURRENT,0.020,101.9,1
$GPS,200714,062015,4726.376,-12222.874,12,3.7,32,18.1