version: 66.12
glider: 124
mission: 17
dive: 199
start: 7 21 114 3 56 24
data:
$ID,124
$MISSION,17
$DIVE,199
$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,-309415.44
$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,31
$R_STBD_OVSHOOT,28
$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
$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
$GPS1,210714,034727,4726.292,-12222.382,10,2.9,30,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-68.0
$GPS2,210714,035515,4726.296,-12222.411,16,3.0,36,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.162,0.239
$KALMAN_X,-13466.5,135.8,-285.0,11887.1,-147.9
$KALMAN_Y,14861.8,-152.1,345.6,-11800.1,-18.9
$MHEAD_RNG_PITCHd_Wd,276.0,239,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.75,-161.4,89,1911,1536,1743,0.0,0.0,0,94,0.00,0.00,-70.22,0.000,16386,0.000,0.000,90,1911,2828,2854,2802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.77,-180.8,90,1911,2855,2802,3.3,-2.2,7,136,8.62,2.33,-21.35,0.000,18692,0.260,0.067,2021,3326,3600,3671,3530,0,0,0,0,0,0,25.22,25.93,26.56
$GC,310,-1.70,-180.8,2021,3326,3670,3532,49.8,-22.6,47,315,0.00,2.25,0.00,0.000,1030,0.000,0.046,2022,1917,3601,3671,3532,0,0,0,0,0,0,28.83,26.12,28.83
$GC,505,-1.63,-180.8,2021,1918,3669,3532,94.6,-22.6,67,511,0.12,2.30,0.00,0.000,2308,0.194,0.052,2057,3337,3600,3669,3532,0,0,0,0,0,0,26.08,26.10,28.83
$GC,539,-1.63,-180.8,2057,3337,3668,3532,101.6,-19.3,73,546,0.00,2.28,0.00,0.000,1030,0.000,0.047,2057,1913,3600,3669,3532,0,0,0,0,0,0,28.83,26.20,28.83
$GC,735,-1.63,-180.8,2057,1913,3667,3532,137.5,-18.9,93,741,0.00,2.20,0.00,0.000,516,0.000,0.054,2057,498,3599,3667,3532,0,0,0,0,0,0,28.83,26.15,28.83
$GC,764,-1.63,-180.8,2057,497,3667,3532,142.9,-18.8,98,771,0.00,2.25,0.00,0.000,1030,0.000,0.044,2057,1928,3599,3667,3532,0,0,0,0,0,0,28.83,26.25,28.83
$GC,950,-1.63,-180.8,2057,1929,3667,3532,175.3,-17.3,117,956,0.00,2.20,0.00,0.000,260,0.000,0.054,2057,3337,3599,3667,3532,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,961,begin apogee
$GC,971,-0.47,0.0,2056,1986,3667,3532,177.9,-17.5,119,1126,0.80,0.00,141.93,0.585,10246,0.141,0.000,2305,1984,2859,2768,2950,0,0,0,0,0,0,25.65,28.83,24.44
$STATE,1127,end apogee,CONTROL_FINISHED_OK
$STATE,1127,begin climb
$GC,1131,1.77,180.8,2306,1985,2767,2949,187.5,0.0,135,1286,1.45,0.00,142.95,0.577,10246,0.088,0.000,2797,1984,2120,1948,2292,0,0,0,0,0,0,25.29,28.83,24.34
$GC,1468,1.77,180.8,2797,1983,1949,2287,146.7,17.5,169,1474,0.00,2.33,0.00,0.000,260,0.000,0.050,2797,3416,2118,1949,2287,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1553,1.77,180.8,2797,3416,1952,2282,130.7,18.8,185,1559,0.00,2.28,0.00,0.000,1030,0.000,0.044,2807,1992,2117,1952,2282,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1748,1.79,196.1,2807,1992,1952,2281,97.9,15.5,205,1766,0.00,0.00,13.00,0.505,8710,0.000,0.000,2807,1992,2058,1894,2223,0,0,0,0,0,0,28.83,28.83,25.06
$GC,1949,1.82,226.3,2807,1992,1897,2222,67.3,14.4,226,1980,0.00,2.30,26.25,0.508,8708,0.000,0.054,2812,588,1935,1771,2099,0,0,0,0,0,0,28.83,25.93,25.07
$GC,1995,1.93,250.9,2812,588,1774,2100,60.6,14.9,234,2022,0.00,2.25,20.95,0.500,9222,0.000,0.041,2812,2005,1838,1671,2005,0,0,0,0,0,0,28.83,26.00,24.93
$GC,2211,2.03,250.9,2811,2005,1677,2000,24.0,16.7,258,2217,0.12,2.22,0.00,0.000,2308,0.087,0.050,2870,3415,1838,1677,2000,0,0,0,0,0,0,26.22,25.97,28.83
$GC,2278,2.03,250.9,2870,3416,1679,1999,12.1,18.2,270,2284,0.12,2.25,0.00,0.000,5126,0.164,0.043,2849,2006,1838,1679,1998,0,0,0,0,0,0,25.84,26.08,28.83
$STATE,2330,end climb,SURFACE_DEPTH_REACHED
$STATE,2330,begin surface coast
$FINISH,1.3,1.021323
$STATE,2341,end surface coast,CONTROL_FINISHED_OK
$STATE,2341,begin surface
$SM_CCo,2364,19.67,0.049,0,0,1639,300.00
$SM_GC,2.04,7.35,0.12,19.67,0.041,0.091,0.049,91,1917,1639,-10.59,0.96,300.00,0,0,0,0,0,0,26.08,26.32,26.10
$IRIDIUM_FIX,4716.56,-12302.50,230921,134038
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.55
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.50
$XPDR_PINGS,10
$SC_FREEKB,3943328
$24V_AH,24.34,13.321
$10V_AH,9.24,7.886
$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,18.600,31.750,345.075,19.675,0.000,0.000,0.000,257.150,4.250,0.000,37.016,606.353,866.656,438.364,716.986,245.102,33.269,982.499,0.000,429.192,0.000,13.366,0.000
$DEVICE_MAMPS,260.100,91.035,585.225,48.960,0.000,0.000,0.000,126.225,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2350.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.246,0.000,0.000,0.000
$MEM,203712
$DATA_FILE_SIZE,10111,277
$CAP_FILE_SIZE,53432,0
$CFSIZE,260034560,243937280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2745.52,0x239dd2,7,5
$CURRENT,0.033,210.0,1
$GPS,210714,043735,4726.387,-12222.885,36,1.2,41,18.1