version: 66.12
glider: 124
mission: 17
dive: 87
start: 7 17 114 11 5 0
data:
$ID,124
$MISSION,17
$DIVE,87
$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,-307961.94
$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,30
$R_STBD_OVSHOOT,29
$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
$GPS1,170714,105718,4726.360,-12222.734,14,1.8,31,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-65.4
$GPS2,170714,110354,4726.406,-12222.736,16,1.5,33,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.258,-0.130
$KALMAN_X,-9540.1,-161.0,-16.3,7587.0,-26.5
$KALMAN_Y,9572.8,185.8,349.4,-6649.7,-12.5
$MHEAD_RNG_PITCHd_Wd,107.3,219,-26.4,-16.667,-30.00,1390
$D_GRID,172
$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,-161.4,91,1918,1532,1744,0.0,0.0,0,103,0.00,0.00,-80.20,0.000,16386,0.000,0.000,91,1918,2923,2949,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.77,-180.8,91,1918,2949,2899,3.2,-1.9,8,146,8.45,2.40,-20.50,0.000,18692,0.257,0.073,2020,3331,3602,3667,3537,0,0,0,0,0,0,25.32,25.94,26.53
$GC,315,-1.77,-180.8,2019,3331,3666,3538,46.5,-21.5,48,321,0.00,2.28,0.00,0.000,1030,0.000,0.048,2020,1917,3602,3666,3538,0,0,0,0,0,0,28.83,26.10,28.83
$GC,509,-1.77,-180.8,2020,1917,3666,3538,88.8,-21.0,68,515,0.00,2.22,0.00,0.000,516,0.000,0.057,2020,503,3602,3666,3538,0,0,0,0,0,0,28.83,26.06,28.83
$GC,545,-1.69,-180.8,2020,503,3665,3538,95.5,-19.6,74,550,0.00,2.28,0.00,0.000,1030,0.000,0.048,2020,1932,3602,3666,3538,0,0,0,0,0,0,28.83,26.14,28.83
$GC,739,-1.69,-180.8,2020,1932,3665,3538,133.8,-20.6,94,744,0.00,2.20,0.00,0.000,260,0.000,0.057,2020,3337,3601,3665,3538,0,0,0,0,0,0,28.83,26.10,28.83
$GC,767,-1.69,-180.8,2020,3337,3666,3538,139.2,-18.8,99,774,0.00,2.28,0.00,0.000,1030,0.000,0.049,2020,1917,3601,3665,3538,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,940,begin apogee
$GC,948,-0.47,0.0,2020,2006,3665,3539,173.7,-18.6,117,1104,0.95,0.00,143.38,0.585,10246,0.153,0.000,2305,2007,2858,2753,2963,0,0,0,0,0,0,25.58,28.83,24.47
$STATE,1105,end apogee,CONTROL_FINISHED_OK
$STATE,1105,begin climb
$GC,1108,1.77,180.8,2305,2007,2753,2962,182.6,0.0,133,1266,1.45,2.38,144.75,0.559,10500,0.088,0.056,2794,3405,2120,1943,2297,0,0,0,0,0,0,25.25,25.06,24.36
$GC,1316,1.77,180.8,2793,3404,1944,2291,158.5,18.0,172,1323,0.00,2.33,0.00,0.000,1030,0.000,0.047,2804,1994,2117,1944,2291,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1502,1.77,180.8,2803,1994,1944,2284,124.7,19.1,191,1508,0.00,2.25,0.00,0.000,516,0.000,0.058,2813,590,2114,1945,2284,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1521,1.77,180.8,2813,590,1945,2284,121.0,19.2,194,1528,0.00,2.28,0.00,0.000,1030,0.000,0.045,2813,2004,2114,1945,2283,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1707,1.77,180.8,2813,2005,1944,2280,87.4,17.4,213,1712,0.00,2.25,0.00,0.000,260,0.000,0.057,2813,3415,2112,1945,2280,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1755,1.77,180.8,2812,3415,1947,2278,78.8,17.5,222,1763,0.12,2.28,0.00,0.000,5126,0.168,0.045,2793,1988,2112,1947,2278,0,0,0,0,0,0,25.82,26.06,28.83
$GC,1943,1.91,222.6,2793,1988,1947,2277,51.8,13.6,241,1981,0.10,0.00,34.60,0.501,10246,0.103,0.000,2839,1988,1951,1784,2118,0,0,0,0,0,0,26.39,28.83,25.15
$GC,2163,1.91,222.6,2838,1988,1784,2111,14.9,17.2,263,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1988,1947,1784,2111,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2229,end climb,SURFACE_DEPTH_REACHED
$STATE,2229,begin surface coast
$FINISH,1.0,1.021559
$STATE,2241,end surface coast,CONTROL_FINISHED_OK
$STATE,2241,begin surface
$SM_CCo,2262,31.08,0.048,0,0,1638,300.00
$SM_GC,1.73,7.43,0.10,31.08,0.048,0.106,0.048,95,1917,1638,-10.58,0.90,300.00,0,0,0,0,0,0,25.96,26.30,26.08
$IRIDIUM_FIX,4707.04,-12222.91,190921,204642
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.90
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,19.30
$XPDR_PINGS,12
$SC_FREEKB,3986336
$24V_AH,24.36,6.313
$10V_AH,9.64,3.798
$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,18.500,27.675,322.725,31.075,0.000,0.000,0.000,213.075,4.750,0.000,34.605,574.086,838.682,425.214,667.724,202.366,33.277,928.286,0.000,424.617,0.000,13.349,0.000
$DEVICE_MAMPS,257.040,105.570,585.225,48.195,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2248.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.183,0.000,0.000,0.000
$MEM,203716
$DATA_FILE_SIZE,10141,271
$CAP_FILE_SIZE,49838,0
$CFSIZE,260034560,247918592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2853.76,0x239dd2,7,5
$CURRENT,0.032, 87.4,1
$GPS,170714,114413,4726.219,-12222.256,14,1.7,14,18.1