version: 66.12
glider: 124
mission: 17
dive: 74
start: 7 17 114 0 44 52
data:
$ID,124
$MISSION,17
$DIVE,74
$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,-307945.69
$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,25
$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
$GPS1,170714,003500,4726.194,-12222.592,13,1.3,30,18.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-67.2
$GPS2,170714,004345,4726.205,-12222.524,12,2.1,32,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.079,0.278
$KALMAN_X,-8395.4,-18.1,-296.9,6843.6,67.2
$KALMAN_Y,8156.4,35.0,109.2,-5216.3,-262.3
$MHEAD_RNG_PITCHd_Wd,319.1,267,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-1.75,-161.4,95,1925,1534,1745,0.0,0.0,0,102,0.00,0.00,-79.65,0.000,16386,0.000,0.000,94,1925,2930,2957,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.77,-180.8,94,1925,2958,2903,3.1,-1.6,8,144,8.48,2.30,-20.38,0.000,18948,0.259,0.070,2019,505,3601,3666,3537,0,0,1,0,0,0,25.34,25.55,26.51
$GC,355,-1.68,-180.8,2019,505,3667,3537,58.3,-23.4,56,361,0.10,2.28,0.00,0.000,3078,0.216,0.047,2039,1932,3602,3667,3537,0,0,0,0,0,0,25.81,26.08,28.83
$GC,550,-1.68,-180.8,2039,1932,3667,3538,97.4,-18.1,76,555,0.00,2.20,0.00,0.000,260,0.000,0.057,2040,3327,3602,3667,3538,0,0,0,0,0,0,28.83,26.03,28.83
$GC,614,-1.68,-180.8,2039,3329,3667,3538,108.7,-16.6,88,619,0.00,2.28,0.00,0.000,1030,0.000,0.047,2040,1912,3602,3667,3537,0,0,0,0,0,0,28.83,26.15,28.83
$GC,808,-1.68,-180.8,2040,1911,3666,3538,143.6,-18.4,108,813,0.00,2.22,0.00,0.000,516,0.000,0.057,2040,502,3602,3666,3538,0,0,0,0,0,0,28.83,26.10,28.83
$GC,863,-1.68,-180.8,2040,502,3666,3538,154.4,-20.0,118,869,0.00,2.25,0.00,0.000,1030,0.000,0.048,2040,1914,3602,3666,3538,0,0,0,0,0,0,28.83,26.19,28.83
$STATE,984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,984,begin apogee
$GC,992,-0.47,0.0,2039,2026,3666,3538,178.2,-18.2,131,1142,0.85,0.00,141.35,0.577,10246,0.147,0.000,2302,2024,2860,2755,2965,0,0,0,0,0,0,25.59,28.83,24.49
$STATE,1143,end apogee,CONTROL_FINISHED_OK
$STATE,1143,begin climb
$GC,1147,1.77,180.8,2302,2025,2753,2964,187.9,0.0,146,1301,1.48,2.45,144.75,0.558,10756,0.086,0.054,2809,587,2120,1944,2296,0,0,0,0,0,0,25.23,25.03,24.35
$GC,1340,1.77,180.8,2809,587,1944,2293,169.7,18.2,178,1346,0.00,2.30,0.00,0.000,1030,0.000,0.045,2809,1984,2118,1944,2292,0,0,0,0,0,0,28.83,25.38,28.83
$GC,1525,1.77,180.8,2809,1984,1945,2284,136.1,19.5,197,1531,0.00,2.30,0.00,0.000,260,0.000,0.055,2809,3422,2114,1945,2284,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1600,1.77,180.8,2808,3422,1948,2278,121.0,21.5,211,1606,0.12,2.33,0.00,0.000,5126,0.171,0.047,2790,1982,2113,1948,2279,0,0,0,0,0,0,25.66,25.90,28.83
$GC,1796,1.80,205.6,2789,1982,1948,2278,88.4,14.8,231,1822,0.00,0.00,20.08,0.503,8454,0.000,0.000,2789,1982,2020,1855,2185,0,0,0,0,0,0,28.83,28.83,25.15
$GC,2006,1.89,217.7,2789,1982,1855,2183,56.1,15.8,253,2023,0.12,2.35,11.38,0.476,10500,0.090,0.054,2847,3417,1970,1808,2133,0,0,0,0,0,0,26.25,25.98,25.15
$GC,2075,1.89,217.7,2846,3417,1811,2129,44.0,18.5,265,2082,0.15,2.28,0.00,0.000,5126,0.168,0.047,2820,2000,1970,1812,2129,0,0,0,0,0,0,25.75,26.02,28.83
$GC,2271,1.93,244.1,2820,2000,1811,2126,12.1,14.7,285,2287,0.00,2.22,10.90,0.065,8708,0.000,0.055,2830,595,1866,1705,2027,0,0,0,0,0,0,28.83,26.03,26.03
$GC,2306,1.93,244.1,2829,595,1709,2027,6.2,17.9,291,2311,0.00,2.25,0.00,0.000,1030,0.000,0.047,2830,2004,1868,1709,2027,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,2327,end climb,SURFACE_DEPTH_REACHED
$STATE,2328,begin surface coast
$FINISH,0.8,1.020708
$STATE,2338,end surface coast,CONTROL_FINISHED_OK
$STATE,2338,begin surface
$SM_CCo,2359,22.77,0.049,0,0,1639,300.00
$SM_GC,1.35,7.43,0.17,22.77,0.050,0.079,0.049,89,1916,1639,-10.61,0.79,300.00,0,0,1,0,0,0,26.03,26.27,26.12
$IRIDIUM_FIX,4707.04,-12220.22,190921,111104
$TT8_MAMPS,0.029211,0.029211
$HUMID,66.22
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,19.30
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,170.9,28.6
$SC_FREEKB,3991328
$24V_AH,24.35,5.519
$10V_AH,9.77,3.337
$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,18.725,32.400,328.450,22.775,0.000,0.000,0.000,284.525,4.750,0.000,33.044,632.247,897.520,420.839,756.983,220.217,33.274,1006.448,0.000,457.166,0.000,16.051,0.000
$DEVICE_MAMPS,259.335,136.170,576.810,48.960,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2346.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.362,0.000,0.000,0.000
$MEM,203716
$DATA_FILE_SIZE,10151,295
$CAP_FILE_SIZE,55324,0
$CFSIZE,260034560,248360960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.013, 93.6,1
$GPS,170714,012531,4726.488,-12222.748,11,1.6,11,18.1