version: 66.12
glider: 124
mission: 17
dive: 149
start: 7 19 114 12 39 37
data:
$ID,124
$MISSION,17
$DIVE,149
$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,-309240.75
$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,27
$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
$GPS1,190714,123256,4726.242,-12222.568,33,2.2,53,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-67.1
$GPS2,190714,123831,4726.270,-12222.576,14,1.9,14,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.134,0.256
$KALMAN_X,-13663.6,-224.9,-381.1,12337.6,58.5
$KALMAN_Y,14602.8,357.1,253.1,-12007.3,-6.2
$MHEAD_RNG_PITCHd_Wd,342.3,136,-26.4,-16.667,-30.00,1390
$D_GRID,179
$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,-161.4,88,1924,1531,1745,0.0,0.0,0,103,0.00,0.00,-80.22,0.000,16386,0.000,0.000,88,1924,2991,3042,2941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.77,-180.8,87,1924,3043,2941,3.7,-2.6,8,141,8.50,2.30,-15.93,0.000,19204,0.257,0.078,2023,502,3601,3675,3527,0,0,0,0,0,0,25.29,25.97,26.56
$GC,371,-1.68,-180.8,2023,501,3675,3528,67.9,-21.1,59,378,0.10,2.28,0.00,0.000,3078,0.207,0.047,2046,1933,3601,3675,3528,0,0,0,0,0,0,25.87,26.13,28.83
$GC,558,-1.68,-180.8,2046,1933,3675,3528,104.5,-19.0,78,563,0.00,2.30,0.00,0.000,516,0.000,0.057,2046,510,3601,3675,3528,0,0,0,0,0,0,28.83,26.10,28.83
$GC,616,-1.68,-180.8,2046,510,3675,3528,117.0,-21.1,89,624,0.00,2.28,0.00,0.000,1030,0.000,0.047,2046,1931,3601,3675,3528,0,0,0,0,0,0,28.83,26.20,28.83
$GC,805,-1.68,-180.8,2046,1932,3674,3528,150.4,-17.4,108,810,0.00,2.17,0.00,0.000,260,0.000,0.057,2046,3322,3601,3675,3528,0,0,0,0,0,0,28.83,26.13,28.83
$GC,873,-1.68,-180.8,2046,3322,3674,3529,161.4,-15.8,121,881,0.00,2.25,0.00,0.000,1030,0.000,0.047,2046,1917,3601,3674,3529,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,993,begin apogee
$GC,1001,-0.47,0.0,2046,2008,3674,3529,180.4,-17.1,133,1152,0.82,0.00,143.93,0.588,10246,0.145,0.000,2302,2008,2861,2773,2949,0,0,0,0,0,0,25.66,28.83,24.44
$STATE,1154,end apogee,CONTROL_FINISHED_OK
$STATE,1154,begin climb
$GC,1157,1.77,180.8,2302,2008,2770,2944,189.2,0.0,149,1311,1.60,2.40,145.00,0.563,10500,0.138,0.054,2788,3413,2121,1950,2293,0,0,0,0,0,0,25.11,25.08,24.33
$GC,1418,1.77,180.8,2788,3413,1950,2284,157.7,17.9,199,1424,0.00,2.33,0.00,0.000,1030,0.000,0.046,2798,1987,2117,1950,2284,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1613,1.78,187.8,2798,1987,1951,2281,123.9,16.2,219,1624,0.00,2.22,4.60,0.442,8708,0.000,0.054,2808,583,2097,1933,2261,0,0,0,0,0,0,28.83,25.92,24.75
$GC,1663,1.80,209.6,2808,583,1937,2261,116.4,15.1,228,1689,0.00,2.28,20.62,0.521,9222,0.000,0.045,2808,2004,2005,1842,2169,0,0,0,0,0,0,28.83,25.98,24.91
$GC,1869,1.80,209.6,2808,2003,1842,2166,80.4,17.3,251,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2004,2003,1842,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2059,1.90,224.0,2808,2004,1842,2165,49.1,15.6,270,2081,0.00,2.28,13.15,0.489,8452,0.000,0.056,2808,3406,1945,1784,2106,0,0,0,0,0,0,28.83,26.05,25.12
$GC,2133,1.97,224.8,2808,3406,1786,2106,37.4,16.6,283,2140,0.00,2.28,0.00,0.000,1030,0.000,0.048,2817,1988,1946,1786,2106,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2319,2.11,252.8,2817,1988,1785,2106,8.5,14.6,302,2341,0.12,2.28,11.82,0.057,10756,0.090,0.056,2885,580,1832,1672,1993,0,0,0,0,0,0,26.36,26.07,26.11
$GC,2355,2.14,281.3,2884,580,1675,1993,3.0,14.6,308,2362,0.00,2.28,1.60,0.050,9218,0.000,0.046,2884,2010,1816,1657,1976,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,2363,end climb,SURFACE_DEPTH_REACHED
$STATE,2363,begin surface coast
$FINISH,0.9,1.020985
$STATE,2374,end surface coast,CONTROL_FINISHED_OK
$STATE,2374,begin surface
$SM_CCo,2395,17.62,0.050,0,0,1639,300.00
$SM_GC,2.82,7.53,0.20,17.62,0.048,0.076,0.050,94,1914,1639,-10.58,0.88,300.00,0,0,0,0,0,0,26.08,26.29,26.13
$IRIDIUM_FIX,4713.38,-12219.23,210921,221929
$TT8_MAMPS,0.029211,0.029211
$HUMID,65.27
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.70
$XPDR_PINGS,9
$SC_FREEKB,3962528
$24V_AH,24.33,10.194
$10V_AH,9.29,6.071
$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,18.675,32.300,340.725,17.625,0.000,0.000,0.000,167.575,4.250,0.000,15.295,642.284,829.421,416.938,661.894,215.602,33.278,906.147,0.000,481.379,0.000,14.848,0.000
$DEVICE_MAMPS,257.040,78.030,587.520,49.725,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2383.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.945,0.000,0.000,0.000
$MEM,203696
$DATA_FILE_SIZE,10116,311
$CAP_FILE_SIZE,54834,0
$CFSIZE,260034560,245690368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2954.33,0x239dd2,7,5
$CURRENT,0.030,301.6,1
$GPS,190714,132103,4726.559,-12222.754,8,2.3,28,18.1