version: 66.12
glider: 124
mission: 17
dive: 172
start: 7 20 114 6 27 9
data:
$ID,124
$MISSION,17
$DIVE,172
$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,-309269.5
$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,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
$GPS1,200714,062015,4726.376,-12222.874,12,3.7,32,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-66.9
$GPS2,200714,062603,4726.424,-12222.882,11,4.8,31,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.288,0.019
$KALMAN_X,-12991.5,160.2,276.5,10246.6,147.8
$KALMAN_Y,14991.2,-100.0,-198.5,-11204.9,-161.6
$MHEAD_RNG_PITCHd_Wd,94.8,396,-26.4,-16.667,-30.00,1390
$D_GRID,161
$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,-161.4,95,1914,1534,1744,0.0,0.0,0,93,0.00,0.00,-69.80,0.000,16386,0.000,0.000,95,1915,2782,2802,2762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.77,-180.8,94,1915,2802,2763,3.1,-1.8,7,140,8.38,2.35,-26.02,0.000,18692,0.254,0.070,2022,3338,3601,3671,3531,0,0,0,0,0,0,25.33,26.01,26.63
$GC,312,-1.70,-180.8,2021,3338,3671,3533,48.7,-26.0,48,319,0.00,2.28,0.00,0.000,1030,0.000,0.047,2022,1914,3602,3671,3533,0,0,0,0,0,0,28.83,26.16,28.83
$GC,497,-1.70,-180.8,2022,1914,3671,3533,89.7,-20.4,67,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1914,3601,3669,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,677,-1.70,-180.8,2022,1914,3671,3533,126.0,-19.5,85,683,0.00,2.28,0.00,0.000,260,0.000,0.053,2022,3334,3602,3671,3533,0,0,0,0,0,0,28.83,26.15,28.83
$GC,734,-1.70,-180.8,2022,3334,3671,3533,136.2,-17.2,95,739,0.00,2.25,0.00,0.000,1030,0.000,0.047,2022,1917,3602,3671,3533,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,864,begin apogee
$GC,872,-0.47,0.0,2022,2009,3671,3533,161.9,-22.5,109,1024,0.90,0.00,143.27,0.575,10246,0.148,0.000,2299,2009,2860,2769,2951,0,0,0,0,0,0,25.63,28.83,24.46
$STATE,1026,end apogee,CONTROL_FINISHED_OK
$STATE,1026,begin climb
$GC,1029,1.77,180.8,2299,2009,2765,2951,171.9,0.0,124,1189,1.48,0.00,146.93,0.552,10502,0.090,0.000,2796,2010,2120,1948,2292,0,0,0,0,0,0,25.27,28.83,24.37
$GC,1369,1.85,186.7,2795,2010,1948,2283,134.9,16.2,161,1381,0.00,2.28,3.85,0.403,8452,0.000,0.052,2796,3405,2101,1934,2268,0,0,0,0,0,0,28.83,25.81,24.57
$GC,1409,1.86,196.3,2796,3405,1936,2267,128.4,16.0,168,1428,0.00,2.28,10.40,0.503,9222,0.000,0.044,2806,1985,2058,1890,2227,0,0,0,0,0,0,28.83,25.86,24.80
$GC,1607,1.88,214.0,2806,1986,1891,2224,97.4,15.4,189,1629,0.00,2.40,15.77,0.513,8452,0.000,0.052,2806,3410,1986,1819,2153,0,0,0,0,0,0,28.83,25.89,24.94
$GC,1687,1.88,214.0,2805,3410,1822,2149,83.5,18.9,203,1692,0.00,2.28,0.00,0.000,1030,0.000,0.046,2816,1994,1985,1822,2149,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1882,1.96,219.2,2815,1994,1821,2149,52.3,16.3,223,1892,0.00,0.00,4.68,0.438,8454,0.000,0.000,2816,1994,1968,1805,2132,0,0,0,0,0,0,28.83,28.83,24.81
$GC,2071,2.14,277.0,2815,1994,1807,2131,24.9,12.4,243,2120,0.17,0.00,45.35,0.484,10246,0.075,0.000,2889,1994,1730,1571,1889,0,0,0,0,0,0,26.34,28.83,25.01
$STATE,2190,end climb,SURFACE_DEPTH_REACHED
$STATE,2191,begin surface coast
$FINISH,0.8,1.021513
$STATE,2199,end surface coast,CONTROL_FINISHED_OK
$STATE,2199,begin surface
$SM_CCo,2220,8.80,0.049,0,0,1639,300.00
$SM_GC,3.25,7.60,0.10,8.80,0.047,0.106,0.049,90,1918,1639,-10.60,1.05,300.00,0,0,0,0,0,0,25.86,26.11,25.94
$IRIDIUM_FIX,4707.04,-12222.91,220921,160727
$TT8_MAMPS,0.029211,0.029211
$HUMID,65.71
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.50
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,150.7,23.4
$SC_FREEKB,3953696
$24V_AH,24.37,11.633
$10V_AH,9.72,6.893
$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,18.525,18.675,370.250,8.800,0.000,0.000,0.000,161.275,4.000,0.000,32.362,552.522,800.208,438.496,594.733,209.802,33.279,868.542,0.000,398.481,0.000,15.847,0.000
$DEVICE_MAMPS,253.980,105.570,575.280,48.960,0.000,0.000,0.000,121.635,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2208.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.559,0.000,0.000,0.000
$MEM,203676
$DATA_FILE_SIZE,6819,256
$CAP_FILE_SIZE,47563,0
$CFSIZE,260034560,244887552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2935.19,0x239dd2,7,5
$CURRENT,0.040,341.6,1
$GPS,200714,070512,4726.361,-12222.453,8,1.6,8,18.1