version: 66.12
glider: 124
mission: 17
dive: 39
start: 7 15 114 20 56 19
data:
$ID,124
$MISSION,17
$DIVE,39
$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,-307901.94
$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,23
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,300
$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
$GPS1,150714,204933,4726.301,-12222.765,14,2.6,34,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-66.8
$GPS2,150714,205513,4726.356,-12222.771,15,1.5,15,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,mooring
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.280,-0.072
$KALMAN_X,-5946.9,-138.6,-377.7,4289.2,-81.1
$KALMAN_Y,3659.7,189.2,542.3,-1020.8,48.9
$MHEAD_RNG_PITCHd_Wd,82.8,230,-26.4,-16.667,-30.00,1390
$D_GRID,177
$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,-161.4,94,1912,1536,1744,0.0,0.0,0,103,0.00,0.00,-79.70,0.000,16386,0.000,0.000,93,1913,2935,2966,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.77,-180.8,94,1913,2966,2906,3.2,-1.9,8,142,8.45,2.42,-19.73,0.000,18692,0.258,0.072,2022,3334,3601,3667,3536,0,0,0,0,0,0,25.39,25.93,26.52
$GC,292,-1.70,-180.8,2022,3334,3667,3537,43.6,-22.4,43,298,0.00,2.30,0.00,0.000,1030,0.000,0.050,2023,1913,3602,3667,3537,0,0,0,0,0,0,28.83,26.04,28.83
$GC,477,-1.70,-180.8,2023,1913,3667,3537,83.2,-18.8,62,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1913,3602,3667,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,657,-1.70,-180.8,2023,1913,3667,3537,116.3,-18.6,80,662,0.00,2.30,0.00,0.000,260,0.000,0.057,2023,3325,3602,3667,3538,0,0,0,0,0,0,28.83,26.03,28.83
$GC,755,-1.70,-180.8,2022,3325,3667,3537,135.2,-22.2,98,760,0.00,2.28,0.00,0.000,1030,0.000,0.047,2023,1914,3602,3667,3537,0,0,0,0,0,0,28.83,26.17,28.83
$GC,951,-1.70,-180.8,2023,1914,3667,3538,176.9,-20.1,118,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1915,3602,3667,3538,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,957,begin apogee
$GC,965,-0.47,0.0,2023,2006,3666,3538,178.9,-19.9,119,1116,0.93,0.00,143.52,0.604,10246,0.148,0.000,2306,2006,2860,2755,2966,0,0,0,0,0,0,25.54,28.83,24.42
$STATE,1117,end apogee,CONTROL_FINISHED_OK
$STATE,1118,begin climb
$GC,1121,1.77,180.8,2306,2006,2752,2964,187.8,0.0,134,1279,1.45,2.33,146.65,0.560,10500,0.088,0.054,2793,3408,2119,1945,2293,0,0,0,0,0,0,25.17,24.99,24.32
$GC,1308,1.78,192.1,2793,3408,1946,2290,170.9,15.8,156,1324,0.00,2.35,9.98,0.503,9222,0.000,0.047,2803,1995,2074,1902,2247,0,0,0,0,0,0,28.83,25.29,24.49
$GC,1514,1.80,202.3,2803,1995,1902,2241,138.2,15.9,178,1525,0.00,0.00,8.77,0.499,8198,0.000,0.000,2803,1995,2037,1869,2205,0,0,0,0,0,0,28.83,28.83,24.87
$GC,1704,1.82,222.4,2802,1995,1868,2199,108.4,15.2,197,1723,0.00,0.00,17.60,0.524,8198,0.000,0.000,2803,1995,1954,1789,2120,0,0,0,0,0,0,28.83,28.83,25.01
$GC,1903,1.82,222.4,2802,1995,1789,2115,73.7,16.8,217,1909,0.00,2.30,0.00,0.000,260,0.000,0.055,2803,3409,1952,1789,2115,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1959,1.88,222.4,2803,3409,1791,2112,64.9,16.7,227,1964,0.00,2.28,0.00,0.000,1030,0.000,0.048,2812,1999,1951,1791,2112,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2154,1.97,237.9,2811,1999,1791,2112,34.1,15.5,247,2171,0.10,2.35,11.38,0.483,10500,0.104,0.054,2854,3409,1890,1730,2050,0,0,1,0,0,0,26.35,26.05,25.25
$GC,2190,1.97,242.6,2853,3409,1731,2048,28.1,16.3,253,2198,0.12,2.28,2.00,0.100,13318,0.168,0.049,2834,1996,1872,1713,2032,0,0,0,0,0,0,25.86,26.06,23.08
$STATE,2344,end climb,SURFACE_DEPTH_REACHED
$STATE,2344,begin surface coast
$FINISH,0.9,1.021454
$STATE,2356,end surface coast,CONTROL_FINISHED_OK
$STATE,2356,begin surface
$SM_CCo,2377,23.35,0.049,0,0,1639,300.00
$SM_GC,1.34,7.45,0.12,23.35,0.050,0.102,0.049,90,1914,1639,-10.61,0.76,300.00,0,0,0,0,0,0,26.01,26.28,26.12
$IRIDIUM_FIX,4710.21,-12217.53,180921,063932
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.81
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.20
$XPDR_PINGS,11
$SC_FREEKB,4004768
$24V_AH,23.08,3.392
$10V_AH,9.32,2.094
$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,18.500,23.475,339.900,23.350,0.000,0.000,0.000,179.125,4.750,0.000,16.100,610.526,904.088,429.370,615.301,200.513,33.272,879.072,0.000,416.741,0.000,18.866,0.000
$DEVICE_MAMPS,257.805,101.745,604.350,48.960,0.000,0.000,0.000,119.340,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2361.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.188,0.000,0.000,0.000
$MEM,203976
$DATA_FILE_SIZE,10083,270
$CAP_FILE_SIZE,51165,0
$CFSIZE,260034560,249593856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$INTR,0,2707.29,0x239dd2,7,5
$CURRENT,0.018,103.8,1
$GPS,150714,213735,4726.266,-12222.232,14,1.5,30,18.1