version: 66.12
glider: 124
mission: 17
dive: 89
start: 7 17 114 12 37 55
data:
$ID,124
$MISSION,17
$DIVE,89
$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,-307964.44
$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,32
$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
$GPS1,170714,123106,4726.317,-12222.598,33,1.0,34,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-66.9
$GPS2,170714,123648,4726.344,-12222.562,11,1.2,29,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.191,0.216
$KALMAN_X,-9361.3,-111.0,-79.0,7635.6,62.4
$KALMAN_Y,9557.0,204.2,227.7,-6644.6,-110.2
$MHEAD_RNG_PITCHd_Wd,254.3,35,-26.4,-16.667,-30.00,1390
$D_GRID,188
$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,-161.4,90,1910,1529,1750,0.0,0.0,0,102,0.00,0.00,-79.55,0.000,16386,0.000,0.000,90,1910,2919,2946,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.77,-180.8,90,1910,2946,2894,3.2,-1.6,8,145,8.45,2.25,-20.42,0.000,18948,0.258,0.070,2019,513,3601,3667,3536,0,0,1,0,0,0,25.36,25.58,26.59
$GC,299,-1.69,-180.8,2018,512,3668,3537,45.1,-22.4,45,307,0.10,2.25,0.00,0.000,3078,0.217,0.046,2040,1929,3602,3668,3537,0,0,0,0,0,0,25.83,26.10,28.83
$GC,486,-1.69,-180.8,2039,1929,3668,3537,81.5,-19.3,64,491,0.00,2.30,0.00,0.000,516,0.000,0.057,2040,506,3602,3668,3537,0,0,0,0,0,0,28.83,26.08,28.83
$GC,565,-1.69,-180.8,2040,505,3668,3537,98.9,-20.1,79,571,0.00,2.25,0.00,0.000,1030,0.000,0.047,2040,1923,3602,3668,3536,0,0,0,0,0,0,28.83,26.17,28.83
$GC,751,-1.69,-180.8,2040,1924,3668,3537,131.2,-17.4,98,757,0.00,2.20,0.00,0.000,260,0.000,0.057,2040,3326,3602,3668,3536,0,0,0,0,0,0,28.83,26.10,28.83
$GC,839,-1.69,-180.8,2040,3326,3668,3537,146.1,-16.5,114,845,0.00,2.25,0.00,0.000,1030,0.000,0.047,2040,1914,3602,3668,3536,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1034,-1.69,-180.8,2039,1914,3668,3537,183.9,-19.5,134,1039,0.00,2.28,0.00,0.000,260,0.000,0.056,2039,3324,3602,3667,3537,0,0,0,0,0,0,28.83,26.12,28.83
$STATE,1056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1056,begin apogee
$GC,1065,-0.47,0.0,2040,1996,3667,3537,188.7,-18.9,138,1220,0.85,0.00,142.52,0.591,10246,0.146,0.000,2302,1995,2858,2750,2967,0,0,0,0,0,0,25.60,28.83,24.46
$STATE,1222,end apogee,CONTROL_FINISHED_OK
$STATE,1222,begin climb
$GC,1225,1.77,180.8,2302,1995,2749,2967,195.8,0.0,154,1383,1.40,2.45,147.57,0.566,10500,0.065,0.054,2799,3411,2120,1940,2300,0,0,1,0,0,0,25.32,25.01,24.34
$GC,1417,1.77,180.8,2798,3411,1940,2295,175.8,17.9,186,1423,0.00,2.33,0.00,0.000,1030,0.000,0.046,2809,2004,2117,1941,2294,0,0,0,0,0,0,28.83,25.37,28.83
$GC,1613,1.79,197.7,2808,2004,1941,2288,144.5,15.4,206,1631,0.00,2.38,13.48,0.517,8452,0.000,0.054,2809,3409,2054,1880,2228,0,0,1,0,0,0,28.83,25.73,24.88
$GC,1660,1.79,199.2,2809,3409,1882,2224,136.9,16.6,214,1667,0.00,2.30,0.00,0.000,1030,0.000,0.047,2819,1988,2053,1882,2224,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1846,1.79,199.2,2818,1989,1882,2222,104.3,18.1,233,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1989,2052,1882,2222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2026,1.81,214.7,2817,1988,1882,2221,74.2,15.5,251,2046,0.00,2.30,15.30,0.500,8708,0.000,0.056,2830,584,1983,1817,2150,0,0,0,0,0,0,28.83,26.00,25.16
$GC,2091,1.81,214.7,2829,584,1817,2149,61.7,19.7,262,2097,0.12,2.28,0.00,0.000,5126,0.152,0.044,2798,2006,1983,1817,2149,0,0,0,0,0,0,25.84,26.05,28.83
$GC,2287,1.97,250.0,2798,2007,1817,2148,32.2,14.1,282,2320,0.12,2.33,26.00,0.490,10500,0.090,0.054,2855,3422,1840,1675,2006,0,0,0,0,0,0,26.34,25.94,25.18
$GC,2376,1.97,250.0,2855,3422,1677,2003,17.1,17.7,298,2382,0.12,2.30,0.00,0.000,5126,0.167,0.047,2835,1990,1840,1677,2003,0,0,0,0,0,0,25.75,25.97,28.83
$STATE,2458,end climb,SURFACE_DEPTH_REACHED
$STATE,2458,begin surface coast
$FINISH,0.9,1.012056
$STATE,2472,end surface coast,CONTROL_FINISHED_OK
$STATE,2472,begin surface
$SM_CCo,2492,19.85,0.049,0,0,1639,300.00
$SM_GC,1.48,7.45,0.10,19.85,0.049,0.116,0.049,89,1926,1639,-10.61,0.99,300.00,0,0,0,0,0,0,25.98,26.22,26.05
$IRIDIUM_FIX,4710.21,-12224.61,190921,222027
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.42
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,9
$SC_FREEKB,3985568
$24V_AH,24.34,6.431
$10V_AH,9.59,3.869
$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,18.625,36.700,344.875,19.850,0.000,0.000,0.000,163.325,4.250,0.000,30.704,659.842,899.977,429.949,669.327,215.621,33.276,910.876,0.000,473.092,0.000,17.350,0.000
$DEVICE_MAMPS,257.805,116.280,591.345,48.960,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2478.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.946,0.000,0.000,0.000
$MEM,203672
$DATA_FILE_SIZE,10107,308
$CAP_FILE_SIZE,56096,0
$CFSIZE,260034560,247844864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$INTR,0,2818.59,0x239dd2,7,5
$CURRENT,0.117,114.5,1
$GPS,170714,132043,4726.277,-12222.869,10,1.3,10,18.1