version: 66.12
glider: 124
mission: 17
dive: 121
start: 7 18 114 14 6 47
data:
$ID,124
$MISSION,17
$DIVE,121
$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,-309205.75
$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,32
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,250
$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
$GPS1,180714,135009,4726.225,-12222.824,13,2.4,33,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-67.0
$GPS2,180714,135009,4726.225,-12222.824,601,99.0,601,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.282,-0.062
$KALMAN_X,-10252.2,-188.6,-45.7,8257.2,104.6
$KALMAN_Y,12098.9,179.8,248.2,-9064.9,-82.9
$MHEAD_RNG_PITCHd_Wd,19.7,367,-26.4,-16.667,-30.00,1390
$D_GRID,183
$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,-161.4,95,1919,1529,1751,0.0,0.0,0,103,0.00,0.00,-80.35,0.000,16386,0.000,0.000,95,1919,2972,3008,2936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.77,-180.8,95,1919,3009,2937,3.4,-2.0,8,142,8.43,2.30,-17.05,0.000,18692,0.257,0.067,2022,3329,3601,3669,3533,0,0,0,0,0,0,25.45,26.13,26.79
$GC,332,-1.77,-180.8,2022,3328,3669,3535,51.7,-21.7,51,339,0.00,2.25,0.00,0.000,1030,0.000,0.047,2023,1919,3602,3669,3535,0,0,0,0,0,0,28.83,26.23,28.83
$GC,519,-1.77,-180.8,2022,1919,3667,3535,91.5,-20.6,70,524,0.00,2.20,0.00,0.000,516,0.000,0.057,2023,508,3601,3667,3535,0,0,0,0,0,0,28.83,26.16,28.83
$GC,553,-1.77,-180.8,2023,508,3666,3535,98.9,-21.2,76,558,0.00,2.25,0.00,0.000,1030,0.000,0.047,2023,1933,3600,3666,3535,0,0,0,0,0,0,28.83,26.25,28.83
$GC,747,-1.77,-180.8,2023,1934,3665,3535,136.2,-17.5,96,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1934,3600,3665,3535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,927,-1.77,-180.8,2023,1934,3665,3535,167.5,-17.8,114,932,0.00,2.17,0.00,0.000,260,0.000,0.056,2023,3328,3600,3665,3535,0,0,0,0,0,0,28.83,26.17,28.83
$GC,965,-1.77,-180.8,2023,3327,3664,3535,174.3,-17.2,121,972,0.00,2.25,0.00,0.000,1030,0.000,0.047,2023,1916,3599,3664,3535,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,1018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1018,begin apogee
$GC,1026,-0.47,0.0,2023,2007,3664,3535,184.7,-19.8,127,1177,0.90,0.00,143.40,0.584,10246,0.147,0.000,2301,2008,2860,2757,2963,0,0,0,0,0,0,25.62,28.83,24.48
$STATE,1179,end apogee,CONTROL_FINISHED_OK
$STATE,1179,begin climb
$GC,1182,1.77,180.8,2301,2007,2754,2961,195.2,0.0,142,1338,1.48,2.30,144.68,0.562,10500,0.089,0.051,2797,3404,2119,1939,2300,0,0,0,0,0,0,25.25,25.08,24.34
$GC,1388,1.77,180.8,2797,3407,1941,2294,172.9,16.7,181,1396,0.00,2.33,0.00,0.000,1030,0.000,0.046,2807,1988,2117,1941,2294,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1575,1.78,185.8,2807,1988,1943,2292,145.2,16.3,200,1587,0.00,2.25,3.50,0.381,8708,0.000,0.057,2816,591,2105,1932,2278,0,0,0,0,0,0,28.83,25.83,24.62
$GC,1606,1.78,193.2,2816,591,1935,2278,140.0,16.1,205,1623,0.00,2.25,8.52,0.493,9222,0.000,0.043,2817,2001,2070,1899,2242,0,0,0,0,0,0,28.83,25.90,24.88
$GC,1803,1.78,193.2,2816,2001,1899,2241,106.5,16.7,226,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2001,2070,1899,2241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1992,1.81,211.1,2816,2001,1899,2240,75.5,15.3,245,2014,0.00,2.25,15.32,0.503,8452,0.000,0.053,2817,3410,2000,1830,2170,0,0,0,0,0,0,28.83,26.03,25.14
$GC,2059,1.81,216.6,2816,3410,1836,2168,64.6,16.3,257,2072,0.10,2.28,6.80,0.462,13318,0.181,0.047,2804,1991,1977,1808,2147,0,0,0,0,0,0,25.84,26.03,25.05
$GC,2251,1.93,219.6,2804,1991,1812,2146,36.0,16.4,277,2264,0.10,2.25,3.50,0.373,10756,0.100,0.057,2855,598,1966,1801,2132,0,0,0,0,0,0,26.35,26.08,24.84
$GC,2374,1.94,231.0,2855,598,1806,2133,17.2,15.8,300,2387,0.10,2.22,5.22,0.079,13318,0.160,0.044,2830,2004,1920,1754,2086,0,0,0,0,0,0,25.98,26.16,25.96
$STATE,2475,end climb,SURFACE_DEPTH_REACHED
$STATE,2475,begin surface coast
$FINISH,1.0,1.021394
$STATE,2494,end surface coast,CONTROL_FINISHED_OK
$STATE,2494,begin surface
$SM_CCo,2514,28.02,0.049,0,0,1638,300.00
$SM_GC,1.44,7.35,0.20,28.02,0.045,0.078,0.049,88,1913,1638,-10.60,0.74,300.00,0,0,0,0,0,0,26.11,26.29,26.17
$IRIDIUM_FIX,4710.21,-12217.53,200921,233850
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.02
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,19.50
$XPDR_PINGS,8
$SC_FREEKB,3973280
$24V_AH,24.34,8.433
$10V_AH,9.36,5.042
$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,18.450,31.950,330.950,28.025,0.000,0.000,0.000,182.325,3.750,0.000,601.279,655.356,925.555,427.197,1265.676,220.554,33.290,930.616,0.000,480.431,0.000,12.095,0.000
$DEVICE_MAMPS,257.040,78.030,583.695,48.960,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2503.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.292,0.000,0.000,0.000
$MEM,203716
$DATA_FILE_SIZE,10172,313
$CAP_FILE_SIZE,56886,0
$CFSIZE,260034560,246706176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3394.78,0x239dd2,7,5
$CURRENT,0.070, 98.0,1
$GPS,180714,145114,4726.471,-12222.372,59,3.0,79,18.1