version: 66.12
glider: 124
mission: 17
dive: 90
start: 7 17 114 13 27 35
data:
$ID,124
$MISSION,17
$DIVE,90
$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,-307965.69
$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,24
$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
$GPS1,170714,132043,4726.277,-12222.869,10,1.3,10,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-65.7
$GPS2,170714,132630,4726.299,-12222.825,11,1.7,16,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.156,0.243
$KALMAN_X,-9289.8,-77.2,-85.1,7208.0,104.0
$KALMAN_Y,9176.2,178.5,118.3,-6204.9,-228.1
$MHEAD_RNG_PITCHd_Wd,41.7,307,-26.4,-16.667,-30.00,1390
$D_GRID,182
$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,-161.4,88,1926,1531,1748,0.0,0.0,0,103,0.00,0.00,-79.93,0.000,16386,0.000,0.000,89,1927,2919,2945,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.77,-180.8,88,1926,2945,2894,3.2,-1.9,8,146,8.48,2.38,-20.38,0.000,18692,0.259,0.078,2019,3329,3600,3665,3536,0,0,0,0,0,0,25.32,25.94,26.53
$GC,376,-1.77,-180.8,2019,3329,3665,3538,59.0,-22.1,60,381,0.00,2.28,0.00,0.000,1030,0.000,0.047,2020,1913,3601,3665,3538,0,0,0,0,0,0,28.83,26.11,28.83
$GC,570,-1.77,-180.8,2019,1913,3665,3538,99.1,-19.4,80,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1913,3601,3665,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,750,-1.77,-180.8,2019,1913,3665,3537,133.1,-19.3,98,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1913,3601,3665,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,930,-1.77,-180.8,2017,1913,3665,3537,162.8,-17.3,116,935,0.00,2.30,0.00,0.000,260,0.000,0.057,2019,3337,3601,3665,3538,0,0,0,0,0,0,28.83,26.12,28.83
$GC,978,-1.77,-180.8,2019,3337,3665,3537,171.9,-18.8,125,985,0.00,2.28,0.00,0.000,1030,0.000,0.049,2019,1914,3601,3665,3537,0,0,0,0,0,0,28.83,26.24,28.83
$STATE,1031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1031,begin apogee
$GC,1039,-0.47,0.0,2019,2007,3665,3537,182.6,-19.6,131,1195,0.93,0.00,144.65,0.585,10246,0.150,0.000,2302,2007,2858,2753,2964,0,0,0,0,0,0,25.59,28.83,24.47
$STATE,1197,end apogee,CONTROL_FINISHED_OK
$STATE,1197,begin climb
$GC,1200,1.77,180.8,2301,2007,2752,2964,190.3,0.0,147,1357,1.48,2.40,147.25,0.561,10500,0.090,0.055,2795,3409,2120,1941,2300,0,0,0,0,0,0,25.24,25.04,24.36
$GC,1385,1.77,180.8,2795,3410,1941,2294,170.3,19.0,182,1392,0.00,2.35,0.00,0.000,1030,0.000,0.046,2804,1989,2117,1941,2294,0,0,0,0,0,0,28.83,25.32,28.83
$GC,1571,1.77,180.8,2804,1989,1941,2288,133.9,18.7,201,1577,0.00,2.35,0.00,0.000,260,0.000,0.054,2804,3413,2114,1941,2288,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1616,1.77,180.8,2804,3413,1944,2283,125.5,19.2,209,1622,0.00,2.30,0.00,0.000,1030,0.000,0.047,2814,1987,2113,1944,2283,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1811,1.77,180.8,2814,1987,1944,2282,90.5,18.0,229,1817,0.00,2.22,0.00,0.000,516,0.000,0.057,2825,585,2113,1944,2282,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1856,1.77,180.8,2825,585,1945,2278,82.0,18.4,237,1863,0.12,2.25,0.00,0.000,5126,0.151,0.044,2794,1999,2112,1945,2280,0,0,0,0,0,0,25.86,26.08,28.83
$GC,2052,1.89,211.6,2794,2000,1945,2279,53.9,14.4,257,2085,0.10,2.30,25.15,0.497,10756,0.102,0.056,2847,597,1996,1830,2163,0,0,0,0,0,0,26.41,25.98,25.22
$GC,2114,1.89,211.6,2848,596,1829,2162,43.0,19.5,268,2121,0.12,2.25,0.00,0.000,5126,0.155,0.046,2816,2003,1996,1829,2164,0,0,0,0,0,0,25.82,26.02,28.83
$GC,2300,2.00,241.4,2816,2003,1830,2158,13.7,14.5,287,2318,0.10,0.00,12.57,0.070,10246,0.101,0.000,2857,2004,1877,1711,2044,0,0,0,0,0,0,26.34,28.83,25.98
$STATE,2367,end climb,SURFACE_DEPTH_REACHED
$STATE,2367,begin surface coast
$FINISH,0.9,1.021683
$STATE,2378,end surface coast,CONTROL_FINISHED_OK
$STATE,2381,begin surface
$SM_CCo,2401,24.02,0.049,0,0,1639,300.00
$SM_GC,1.39,7.47,0.20,24.02,0.049,0.072,0.049,92,1876,1639,-10.59,0.65,300.00,0,0,0,0,0,0,26.04,26.27,26.12
$IRIDIUM_FIX,4710.21,-12224.61,190921,230719
$TT8_MAMPS,0.029211,0.029211
$HUMID,66.22
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,13
$SC_FREEKB,3985184
$24V_AH,24.36,6.489
$10V_AH,9.30,3.905
$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,18.800,28.025,329.625,24.025,0.000,0.000,0.000,180.225,5.000,0.000,16.801,624.926,884.370,417.470,651.802,210.742,33.278,903.691,0.000,457.379,0.000,12.096,0.000
$DEVICE_MAMPS,258.570,78.030,585.225,48.960,0.000,0.000,0.000,119.340,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2389.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.951,0.000,0.000,0.000
$MEM,203740
$DATA_FILE_SIZE,10133,295
$CAP_FILE_SIZE,52869,0
$CFSIZE,260034560,247812096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2979.61,0x239dd2,7,5
$CURRENT,0.097, 79.6,1
$GPS,170714,140914,4726.452,-12222.180,8,3.9,28,18.1