version: 66.12
glider: 124
mission: 17
dive: 183
start: 7 20 114 15 18 43
data:
$ID,124
$MISSION,17
$DIVE,183
$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,-309283.25
$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,28
$R_STBD_OVSHOOT,31
$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
$GPS1,200714,151135,4726.432,-12222.377,14,1.8,25,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-68.5
$GPS2,200714,151736,4726.424,-12222.386,11,1.7,16,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.288,-0.018
$KALMAN_X,-14137.3,-161.0,-242.7,12845.9,-31.8
$KALMAN_Y,16069.9,185.5,262.9,-13027.6,-136.6
$MHEAD_RNG_PITCHd_Wd,222.3,296,-26.4,-16.667,-30.00,1390
$D_GRID,152
$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,-161.4,91,1912,1537,1750,0.0,0.0,0,94,0.00,0.00,-70.40,0.000,16386,0.000,0.000,91,1912,2864,2898,2831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.77,-180.8,91,1912,2899,2832,3.7,-2.5,7,131,8.43,2.30,-18.70,0.000,18948,0.255,0.068,2021,506,3600,3671,3530,0,0,0,0,0,0,25.27,25.98,26.57
$GC,282,-1.66,-180.8,2021,506,3674,3532,47.0,-23.5,42,289,0.12,2.25,0.00,0.000,3078,0.201,0.044,2050,1915,3602,3673,3532,0,0,0,0,0,0,25.77,26.12,28.83
$GC,468,-1.66,-180.8,2050,1915,3673,3532,84.6,-19.8,61,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1915,3602,3673,3532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,649,-1.66,-180.8,2050,1915,3672,3530,119.0,-18.7,79,655,0.00,2.22,0.00,0.000,260,0.000,0.054,2050,3340,3602,3672,3532,0,0,0,0,0,0,28.83,26.12,28.83
$GC,683,-1.66,-180.8,2050,3341,3672,3532,125.2,-17.2,85,690,0.00,2.28,0.00,0.000,1030,0.000,0.047,2050,1915,3602,3672,3532,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,826,begin apogee
$GC,834,-0.47,0.0,2050,2008,3671,3532,154.0,-21.4,100,984,0.82,0.00,143.80,0.562,10246,0.137,0.000,2307,2008,2860,2767,2954,0,0,0,0,0,0,25.67,28.83,24.49
$STATE,986,end apogee,CONTROL_FINISHED_OK
$STATE,986,begin climb
$GC,990,1.77,180.8,2307,2009,2763,2951,165.1,0.0,115,1146,1.45,2.38,146.38,0.539,10500,0.089,0.051,2799,3411,2119,1946,2293,0,0,0,0,0,0,25.27,25.13,24.38
$GC,1281,1.77,180.8,2798,3411,1946,2283,134.9,19.2,171,1287,0.00,2.30,0.00,0.000,1030,0.000,0.044,2809,1988,2115,1947,2283,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1476,1.78,191.4,2809,1988,1947,2279,99.6,15.9,191,1493,0.00,2.25,8.45,0.471,8708,0.000,0.054,2819,597,2077,1911,2244,0,0,0,0,0,0,28.83,25.96,24.97
$GC,1516,1.79,193.2,2819,597,1911,2243,92.6,16.5,198,1523,0.00,2.22,0.00,0.000,1030,0.000,0.042,2819,1999,2077,1912,2243,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1702,1.80,208.0,2819,1999,1912,2242,62.6,15.6,217,1723,0.00,2.30,14.62,0.488,8708,0.000,0.053,2829,588,2011,1845,2177,0,0,0,0,0,0,28.83,26.01,25.08
$GC,1790,1.80,208.0,2828,588,1846,2177,49.1,16.8,233,1797,0.12,2.25,0.00,0.000,5126,0.148,0.042,2796,2006,2011,1846,2177,0,0,0,0,0,0,25.88,26.08,28.83
$GC,1986,1.99,256.0,2796,2007,1846,2175,21.3,13.1,253,2029,0.12,2.30,35.95,0.474,10500,0.090,0.052,2855,3410,1815,1650,1981,0,0,0,0,0,0,26.37,25.89,25.10
$STATE,2092,end climb,SURFACE_DEPTH_REACHED
$STATE,2092,begin surface coast
$FINISH,0.9,1.020977
$STATE,2103,end surface coast,CONTROL_FINISHED_OK
$STATE,2103,begin surface
$SM_CCo,2126,17.55,0.050,0,0,1638,300.00
$SM_GC,2.89,7.50,2.45,17.55,0.048,0.045,0.050,96,1934,1638,-10.58,1.07,300.00,0,0,0,0,0,0,25.89,25.97,25.98
$IRIDIUM_FIX,4703.87,-12223.89,230921,010104
$TT8_MAMPS,0.029211,0.029211
$HUMID,64.68
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,9
$SC_FREEKB,3949472
$24V_AH,24.38,12.305
$10V_AH,9.73,7.303
$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,18.575,27.700,349.200,17.550,0.000,0.000,0.000,189.400,3.250,0.000,17.342,563.916,720.474,402.770,629.151,207.770,33.289,884.697,0.000,419.005,0.000,7.327,0.000
$DEVICE_MAMPS,254.745,71.145,562.275,49.725,0.000,0.000,0.000,117.810,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2113.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.408,0.000,0.000,0.000
$MEM,203696
$DATA_FILE_SIZE,10179,275
$CAP_FILE_SIZE,48404,0
$CFSIZE,260034560,244490240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2821.20,0x239dd2,7,5
$CURRENT,0.078,128.7,1
$GPS,200714,155525,4726.188,-12222.586,13,1.6,13,18.1