version: 66.12
glider: 124
mission: 17
dive: 152
start: 7 19 114 14 49 44
data:
$ID,124
$MISSION,17
$DIVE,152
$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,-309244.5
$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,27
$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,9.1999998
$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
$GPS1,190714,144251,4726.457,-12222.155,13,5.7,33,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-61.4
$GPS2,190714,144839,4726.452,-12222.135,13,4.6,33,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.303,-0.014
$KALMAN_X,-13011.9,-148.9,-74.3,11840.5,178.8
$KALMAN_Y,14559.3,323.3,81.1,-11419.8,-77.6
$MHEAD_RNG_PITCHd_Wd,242.6,604,-25.0,-16.667,-28.75,1541
$D_GRID,122
$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,20,-1.69,-180.8,94,1917,530,756,0.0,0.0,0,142,0.00,0.00,-119.30,0.000,16386,0.000,0.000,94,1917,2732,2754,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,147,-1.69,-180.8,94,1917,2754,2711,3.2,-1.8,12,190,8.62,2.28,-25.38,0.000,18948,0.261,0.070,2041,514,3603,3677,3529,0,0,0,0,0,0,25.28,26.05,26.63
$GC,319,-1.55,-180.8,2041,514,3676,3532,39.7,-22.9,45,328,0.12,2.25,0.00,0.000,3078,0.193,0.047,2071,1932,3604,3676,3532,0,0,0,0,0,0,25.83,26.15,28.83
$GC,506,-1.55,-180.8,2071,1932,3676,3532,74.8,-17.5,64,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,1932,3604,3676,3532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,687,-1.55,-180.8,2071,1932,3673,3532,108.6,-18.2,82,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,1932,3603,3675,3532,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,764,begin apogee
$GC,772,-0.47,0.0,2071,2007,3674,3532,122.9,-17.5,90,921,0.75,0.00,141.25,0.528,10246,0.142,0.000,2308,2006,2860,2774,2946,0,0,0,0,0,0,25.72,28.83,24.54
$STATE,922,end apogee,CONTROL_FINISHED_OK
$STATE,922,begin climb
$GC,926,1.69,180.8,2306,2006,2769,2944,131.9,0.0,105,1082,1.40,2.45,143.68,0.519,10756,0.090,0.054,2785,588,2119,1965,2273,0,0,0,0,0,0,25.29,25.13,24.41
$GC,1100,1.73,217.7,2785,588,1966,2268,115.5,14.2,138,1138,0.00,2.30,30.30,0.501,9222,0.000,0.044,2785,1988,1971,1813,2130,0,0,0,0,0,0,28.83,25.37,24.49
$GC,1318,1.75,231.1,2785,1987,1812,2121,79.5,15.8,163,1335,0.00,0.00,11.55,0.474,8454,0.000,0.000,2785,1988,1916,1762,2070,0,0,0,0,0,0,28.83,28.83,24.83
$GC,1518,1.85,248.7,2785,1988,1761,2065,48.5,15.5,184,1537,0.10,0.00,15.23,0.477,10758,0.099,0.000,2834,1988,1845,1693,1997,0,0,0,0,0,0,26.22,28.83,24.99
$GC,1717,1.85,248.7,2834,1988,1693,1993,12.2,17.7,205,1722,0.00,2.25,0.00,0.000,260,0.000,0.055,2834,3415,1843,1693,1993,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1745,1.85,248.7,2834,3415,1693,1991,7.2,17.8,210,1753,0.12,2.28,0.00,0.000,5126,0.164,0.047,2813,1997,1842,1693,1991,0,0,0,0,0,0,25.85,26.07,28.83
$STATE,1769,end climb,SURFACE_DEPTH_REACHED
$STATE,1769,begin surface coast
$FINISH,1.7,1.021025
$STATE,1780,end surface coast,CONTROL_FINISHED_OK
$STATE,1780,begin surface
$SM_CCo,1801,20.02,0.049,0,0,1638,300.00
$SM_GC,2.48,7.30,0.12,20.02,0.044,0.099,0.049,88,1911,1638,-10.59,0.79,300.00,0,0,0,0,0,0,26.08,26.25,26.09
$IRIDIUM_FIX,4710.21,-12220.22,220921,003424
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.55
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.60
$XPDR_PINGS,6
$SC_FREEKB,3961376
$24V_AH,24.41,10.406
$10V_AH,9.69,6.161
$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,18.425,14.025,342.000,20.025,0.000,0.000,0.000,168.400,1.750,0.000,33.809,425.027,609.815,440.545,526.742,187.511,33.281,862.677,0.000,330.354,0.000,2.580,0.000
$DEVICE_MAMPS,260.865,110.160,527.850,48.960,0.000,0.000,0.000,113.985,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1787.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,26.705,0.000,0.000,0.000
$MEM,203676
$DATA_FILE_SIZE,6845,214
$CAP_FILE_SIZE,41272,0
$CFSIZE,260034560,245608448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2689.42,0x239dd2,7,5
$CURRENT,0.050,109.7,1
$GPS,190714,152121,4726.386,-12222.424,10,3.6,30,18.1