version: 66.12
glider: 124
mission: 17
dive: 140
start: 7 19 114 5 10 7
data:
$ID,124
$MISSION,17
$DIVE,140
$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,-309229.5
$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,26
$R_STBD_OVSHOOT,36
$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
$GPS1,190714,050335,4726.171,-12222.428,9,1.8,26,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-67.3
$GPS2,190714,050900,4726.203,-12222.426,10,1.9,15,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.217,0.191
$KALMAN_X,-11805.5,-87.0,241.9,9900.8,124.3
$KALMAN_Y,12793.4,-6.7,-64.4,-9645.8,-19.0
$MHEAD_RNG_PITCHd_Wd,300.7,330,-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,-161.4,95,1913,1534,1759,0.0,0.0,0,102,0.00,0.00,-79.88,0.000,16386,0.000,0.000,95,1913,2987,3023,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.77,-180.8,95,1913,3023,2951,3.7,-2.5,8,140,8.50,2.33,-15.23,0.000,18692,0.259,0.076,2022,3318,3601,3669,3533,0,0,0,0,0,0,25.35,25.63,26.62
$GC,370,-1.70,-180.8,2021,3317,3669,3535,65.6,-21.9,59,376,0.00,2.25,0.00,0.000,1030,0.000,0.048,2022,1916,3602,3669,3535,0,0,0,0,0,0,28.83,26.15,28.83
$GC,556,-1.70,-180.8,2022,1916,3669,3535,105.5,-21.3,78,562,0.00,2.28,0.00,0.000,260,0.000,0.056,2022,3320,3602,3669,3535,0,0,0,0,0,0,28.83,26.08,28.83
$GC,713,-1.70,-180.8,2022,3321,3669,3535,136.3,-20.1,108,718,0.00,2.25,0.00,0.000,1030,0.000,0.047,2023,1913,3602,3669,3535,0,0,0,0,0,0,28.83,26.22,28.83
$GC,907,-1.70,-180.8,2022,1913,3667,3535,172.4,-18.1,128,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1913,3602,3669,3535,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,933,begin apogee
$GC,942,-0.47,0.0,2022,2009,3669,3535,177.8,-17.8,131,1092,0.90,0.00,142.38,0.583,10246,0.146,0.000,2300,2009,2859,2756,2963,0,0,0,0,0,0,25.60,28.83,24.45
$STATE,1093,end apogee,CONTROL_FINISHED_OK
$STATE,1093,begin climb
$GC,1097,1.77,180.8,2300,2009,2754,2962,189.2,0.0,146,1251,1.48,0.00,146.48,0.562,11014,0.087,0.000,2797,2008,2120,1939,2302,0,0,0,0,0,0,25.25,28.83,24.34
$GC,1440,1.77,180.8,2797,2009,1942,2295,144.8,16.9,193,1446,0.00,2.22,0.00,0.000,260,0.000,0.054,2798,3409,2118,1943,2293,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1475,1.77,180.8,2797,3409,1945,2292,138.9,17.0,199,1480,0.00,2.30,0.00,0.000,1030,0.000,0.045,2808,1984,2119,1946,2292,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1669,1.77,180.8,2807,1984,1946,2291,106.7,17.5,219,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1984,2118,1946,2291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1849,1.79,195.0,2807,1984,1947,2290,78.5,15.6,237,1871,0.00,2.25,12.15,0.492,8708,0.000,0.056,2818,595,2062,1892,2232,0,0,0,0,0,0,28.83,26.07,25.15
$GC,1889,1.79,195.0,2818,595,1892,2230,71.7,17.0,244,1895,0.00,2.22,0.00,0.000,1030,0.000,0.044,2818,1995,2061,1892,2230,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2076,1.89,227.9,2818,1995,1892,2229,42.7,14.2,263,2108,0.00,2.33,27.12,0.496,8452,0.000,0.055,2818,3411,1930,1761,2099,0,0,0,0,0,0,28.83,25.96,25.14
$GC,2166,1.98,234.9,2818,3411,1766,2099,29.8,16.2,279,2177,0.00,2.28,3.15,0.324,9222,0.000,0.047,2828,1999,1905,1737,2073,0,0,0,0,0,0,28.83,25.99,24.79
$STATE,2343,end climb,SURFACE_DEPTH_REACHED
$STATE,2343,begin surface coast
$FINISH,0.9,1.000343
$STATE,2364,end surface coast,CONTROL_FINISHED_OK
$STATE,2364,begin surface
$SM_CCo,2385,26.50,0.050,0,0,1638,300.00
$SM_GC,1.52,7.38,0.12,26.50,0.047,0.095,0.050,91,1916,1638,-10.59,0.79,300.00,0,0,0,0,0,0,26.05,26.29,26.10
$IRIDIUM_FIX,4710.21,-12221.92,210921,145224
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.02
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,8
$SC_FREEKB,3965984
$24V_AH,24.34,9.597
$10V_AH,9.70,5.739
$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,18.250,23.025,331.275,26.500,0.000,0.000,0.000,157.750,4.000,0.000,16.563,630.462,868.209,406.977,642.277,208.740,33.277,869.257,0.000,466.312,0.000,16.141,0.000
$DEVICE_MAMPS,259.335,94.860,582.930,49.725,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2372.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.408,0.000,0.000,0.000
$MEM,203720
$DATA_FILE_SIZE,10096,300
$CAP_FILE_SIZE,51221,0
$CFSIZE,260034560,246026240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2800.99,0x239dd2,7,5
$CURRENT,0.120,294.1,1
$GPS,190714,055133,4726.526,-12222.829,9,2.9,29,18.1