version: 66.12
glider: 124
mission: 16
dive: 2
start: 7 3 114 18 34 56
data:
$ID,124
$MISSION,16
$DIVE,2
$N_DIVES,3
$D_SURF,3
$D_FLARE,3
$D_TGT,165
$D_ABORT,185
$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,55
$T_MISSION,72
$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,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51915
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,40
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,2.53e-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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,-307216.41
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3900
$C_PITCH,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,18
$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,1950
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,4045
$C_VBD,3050
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0020000001
$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,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,030714,183033,4726.688,-12222.884,10,2.4,30,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-59.7
$GPS2,030714,183413,4726.712,-12222.913,11,1.8,11,18.1
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,mooring
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.136,-0.253
$KALMAN_X,-84.7,-84.7,-84.7,200.8,-188.3
$KALMAN_Y,161.6,161.6,161.6,55.1,359.2
$MHEAD_RNG_PITCHd_Wd,133.7,796,-15.2,-10.000,-19.22,2879
$D_GRID,86
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.23,-195.5,99,1977,573,835,0.0,0.0,0,171,0.00,0.00,-150.60,0.000,16386,0.000,0.000,99,1977,3379,3421,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,175,-1.23,-195.5,100,1978,3422,3338,4.0,-4.6,15,201,8.68,2.25,-10.15,0.000,18692,0.258,0.072,2105,3365,3849,3882,3816,0,0,0,0,0,0,25.63,26.17,26.77
$GC,267,-1.23,-195.5,2106,3365,3882,3819,20.6,-11.9,33,272,0.00,2.22,0.00,0.000,1030,0.000,0.046,2105,1955,3850,3882,3818,0,0,0,0,0,0,28.83,26.19,28.83
$GC,458,-1.17,-195.5,2106,1956,3880,3820,43.0,-12.0,53,464,0.00,2.20,0.00,0.000,516,0.000,0.057,2105,543,3849,3879,3819,0,0,0,0,0,0,28.83,26.06,28.83
$GC,525,-1.05,-195.5,2106,544,3879,3821,50.8,-11.8,66,532,0.17,2.22,0.00,0.000,3078,0.143,0.044,2156,1960,3849,3878,3820,0,0,0,0,0,0,25.89,26.20,28.83
$GC,710,-1.05,-195.5,2156,1960,3877,3821,68.0,-9.5,85,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,1960,3848,3875,3822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,890,-1.12,-195.5,2156,1961,3875,3822,84.4,-8.9,103,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,1960,3848,3874,3822,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,907,begin apogee
$GC,914,-0.28,0.0,2156,2001,3875,3822,86.0,-8.6,105,1074,0.47,0.00,152.18,0.529,10246,0.099,0.000,2322,2000,3045,2952,3139,0,0,0,0,0,0,26.00,28.83,24.68
$STATE,1075,end apogee,CONTROL_FINISHED_OK
$STATE,1075,begin climb
$GC,1078,1.23,195.5,2323,2001,2950,3136,91.7,0.0,121,1241,0.93,0.00,153.00,0.514,10502,0.062,0.000,2658,2001,2245,2109,2382,0,0,0,0,0,0,25.47,28.83,24.57
$GC,1420,1.11,195.5,2658,2001,2107,2365,62.3,10.3,165,1422,0.15,0.00,0.00,0.000,4102,0.129,0.000,2614,2004,2236,2107,2365,0,0,0,0,0,0,25.86,28.83,28.83
$GC,1600,1.20,241.0,2614,2004,2108,2361,47.6,8.4,183,1642,0.10,2.25,34.97,0.500,10500,0.100,0.054,2660,3411,2062,1932,2192,0,0,0,0,0,0,26.34,25.82,25.13
$GC,1728,1.09,241.0,2661,3412,1932,2182,32.6,12.4,208,1735,0.17,2.28,0.00,0.000,5126,0.134,0.047,2616,1989,2056,1931,2182,0,0,0,0,0,0,25.76,25.94,28.83
$GC,1913,1.11,248.3,2617,1990,1930,2182,13.6,9.7,227,1917,0.00,0.00,1.88,0.067,8198,0.000,0.000,2615,1989,2037,1911,2164,0,0,0,0,0,0,28.83,28.83,25.92
$STATE,2043,end climb,SURFACE_DEPTH_REACHED
$STATE,2043,begin surface coast
$FINISH,0.9,1.019597
$STATE,2070,end surface coast,CONTROL_FINISHED_OK
$STATE,2071,begin surface
$SM_CCo,2089,62.65,0.047,0,0,1418,400.08
$SM_GC,1.15,6.82,0.00,62.65,0.049,0.000,0.047,90,1989,1418,-10.47,1.10,400.08,0,0,0,0,0,0,26.06,28.83,26.15
$IRIDIUM_FIX,4707.04,-12222.91,060921,045938
$TT8_MAMPS,0.053928,0.053928
$HUMID,69.96
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,19.50
$XPDR_PINGS,40
$SC_FREEKB,4018976
$24V_AH,24.57,0.701
$10V_AH,9.63,0.553
$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,17.500,13.475,342.025,62.650,0.000,0.000,0.000,0.000,10.000,0.000,12.530,0.000,1093.373,543.935,447.553,122.894,30.356,756.032,0.000,374.936,0.000,0.995,0.000
$DEVICE_MAMPS,257.805,172.890,528.615,46.665,0.000,0.000,0.000,0.000,420.000,0.000,32.960,0.000,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2054.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,28.989,0.000,0.000,0.000
$MEM,204412
$DATA_FILE_SIZE,6808,243
$CAP_FILE_SIZE,54447,0
$CFSIZE,260034560,250871808
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2637.20,0x239dd2,7,5
$INTR,1,2077.21,0x239dd2,7,5
$GPS,030714,191140,4726.747,-12222.884,14,2.0,23,18.1