version: 66.12
glider: 124
mission: 17
dive: 169
start: 7 20 114 3 57 6
data:
$ID,124
$MISSION,17
$DIVE,169
$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,-309265.75
$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,23
$R_STBD_OVSHOOT,27
$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
$GPS1,200714,035013,4726.324,-12222.592,13,1.8,13,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-65.5
$GPS2,200714,035600,4726.348,-12222.598,15,1.6,32,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.216,0.192
$KALMAN_X,-13681.6,59.4,8.6,11654.7,100.5
$KALMAN_Y,15639.3,16.3,63.5,-12368.3,-89.7
$MHEAD_RNG_PITCHd_Wd,112.0,14,-26.4,-16.667,-30.00,1390
$D_GRID,188
$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,-161.4,90,1923,1533,1741,0.0,0.0,0,103,0.00,0.00,-79.90,0.000,16386,0.000,0.000,90,1923,2944,2984,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.77,-180.8,90,1924,2984,2904,3.3,-1.9,8,142,8.52,2.38,-17.67,0.000,18692,0.259,0.068,2020,3328,3602,3673,3531,0,0,0,0,0,0,25.29,26.00,26.61
$GC,240,-1.67,-180.8,2019,3327,3673,3533,34.7,-23.8,33,248,0.10,2.28,0.00,0.000,3078,0.209,0.045,2042,1913,3603,3673,3533,0,0,0,0,0,0,25.85,26.13,28.83
$GC,427,-1.67,-180.8,2042,1913,3673,3533,78.1,-19.2,52,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,1913,3603,3673,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,608,-1.67,-180.8,2041,1913,3673,3533,115.2,-20.9,70,613,0.00,2.30,0.00,0.000,260,0.000,0.055,2043,3338,3603,3673,3533,0,0,0,0,0,0,28.83,26.12,28.83
$GC,668,-1.67,-180.8,2041,3338,3673,3533,127.6,-20.8,81,675,0.00,2.28,0.00,0.000,1030,0.000,0.047,2042,1913,3602,3672,3533,0,0,0,0,0,0,28.83,26.24,28.83
$GC,856,-1.67,-180.8,2042,1913,3672,3533,161.4,-17.6,100,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,1913,3603,3673,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1045,-1.67,-180.8,2042,1913,3672,3534,186.0,-0.2,119,1050,0.00,2.30,0.00,0.000,260,0.000,0.058,2042,3334,3602,3672,3533,0,0,0,0,0,0,28.83,26.16,28.83
$STATE,1151,end dive,NO_VERTICAL_VELOCITY
$STATE,1151,begin apogee
$GC,1161,-0.47,0.0,2041,1988,3671,3534,186.1,0.0,140,1317,0.75,0.00,144.52,0.581,10246,0.087,0.000,2308,1988,2857,2763,2952,0,0,0,0,0,0,26.08,28.83,24.46
$STATE,1318,end apogee,CONTROL_FINISHED_OK
$STATE,1318,begin climb
$GC,1322,1.77,180.8,2308,1988,2761,2952,186.1,0.0,156,1477,1.42,2.28,145.82,0.559,10756,0.082,0.051,2806,599,2120,1945,2296,0,0,0,0,0,0,25.30,25.11,24.33
$GC,1598,1.78,189.6,2806,599,1944,2285,154.3,16.0,208,1611,0.00,2.25,7.38,0.484,9222,0.000,0.041,2806,2006,2086,1915,2257,0,0,0,0,0,0,28.83,25.72,24.65
$GC,1790,1.78,189.8,2806,2006,1914,2251,122.9,16.7,228,1795,0.00,2.30,0.00,0.000,516,0.000,0.054,2816,587,2083,1915,2251,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1818,1.78,189.8,2815,587,1915,2251,118.0,16.8,233,1825,0.00,2.25,0.00,0.000,1030,0.000,0.041,2816,2005,2083,1915,2251,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2004,1.80,201.8,2815,2004,1914,2249,89.0,15.8,252,2021,0.00,2.22,10.68,0.495,8452,0.000,0.051,2816,3416,2036,1869,2204,0,0,0,0,0,0,28.83,26.04,25.02
$GC,2122,1.80,201.8,2815,3416,1870,2200,68.4,18.7,274,2128,0.12,2.25,0.00,0.000,5126,0.161,0.044,2795,2005,2034,1870,2199,0,0,0,0,0,0,25.87,26.09,28.83
$GC,2319,1.99,258.5,2794,2005,1871,2198,41.8,12.5,294,2376,0.12,2.28,48.92,0.500,10756,0.090,0.055,2864,585,1805,1639,1971,0,0,0,0,0,0,26.41,25.79,25.01
$GC,2393,1.99,258.8,2864,585,1640,1968,30.6,16.6,303,2398,0.00,2.28,0.00,0.000,1030,0.000,0.043,2865,2005,1805,1640,1970,0,0,0,0,0,0,28.83,25.87,28.83
$STATE,2537,end climb,SURFACE_DEPTH_REACHED
$STATE,2537,begin surface coast
$FINISH,0.9,1.021297
$STATE,2545,end surface coast,CONTROL_FINISHED_OK
$STATE,2545,begin surface
$SM_CCo,2566,16.35,0.050,0,0,1638,300.00
$SM_GC,2.71,7.47,0.20,16.35,0.045,0.068,0.050,95,1906,1638,-10.58,0.71,300.00,0,0,0,0,0,0,25.92,26.15,25.99
$IRIDIUM_FIX,4713.38,-12219.23,220921,133947
$TT8_MAMPS,0.029211,0.029211
$HUMID,65.83
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.40
$XPDR_PINGS,13
$SC_FREEKB,3954848
$24V_AH,24.33,11.443
$10V_AH,9.33,6.782
$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,18.525,32.000,357.325,16.350,0.000,0.000,0.000,159.650,5.000,0.000,33.374,672.639,934.433,429.892,684.073,226.105,33.280,916.739,0.000,489.619,0.000,12.095,0.000
$DEVICE_MAMPS,259.335,68.085,581.400,49.725,0.000,0.000,0.000,119.340,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2555.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.299,0.000,0.000,0.000
$MEM,203696
$DATA_FILE_SIZE,10118,319
$CAP_FILE_SIZE,56260,0
$CFSIZE,260034560,244981760
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2784.26,0x239dd2,7,5
$INTR,1,1442.32,0x23699e,1,24
$CURRENT,0.088,107.9,1
$GPS,200714,044101,4726.061,-12222.136,7,1.8,7,18.1