version: 66.12
glider: 124
mission: 17
dive: 185
start: 7 20 114 16 50 43
data:
$ID,124
$MISSION,17
$DIVE,185
$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,-309285.75
$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,31
$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
$GPS1,200714,164342,4726.346,-12222.402,13,1.6,30,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-69.5
$GPS2,200714,164937,4726.360,-12222.412,15,1.6,15,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.265,0.114
$KALMAN_X,-13691.6,-183.1,-106.6,12251.0,211.8
$KALMAN_Y,15705.3,136.3,36.5,-12504.0,-217.5
$MHEAD_RNG_PITCHd_Wd,255.4,224,-26.4,-16.667,-30.00,1390
$D_GRID,164
$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,-161.4,94,1923,1536,1751,0.0,0.0,0,94,0.00,0.00,-70.38,0.000,16386,0.000,0.000,94,1923,2848,2877,2819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-1.77,-180.8,94,1923,2877,2821,3.6,-2.5,7,136,8.43,2.25,-20.73,0.000,18948,0.255,0.069,2022,510,3601,3673,3530,0,0,0,0,0,0,25.31,26.02,26.61
$GC,368,-1.65,-180.8,2022,510,3674,3531,67.2,-22.0,59,374,0.12,2.25,0.00,0.000,3078,0.197,0.044,2052,1934,3602,3674,3531,0,0,0,0,0,0,25.82,26.16,28.83
$GC,563,-1.65,-180.8,2051,1935,3674,3531,106.2,-19.6,79,569,0.00,2.30,0.00,0.000,516,0.000,0.054,2052,504,3602,3674,3531,0,0,0,0,0,0,28.83,26.13,28.83
$GC,641,-1.65,-180.8,2051,504,3673,3531,121.8,-19.3,94,648,0.00,2.25,0.00,0.000,1030,0.000,0.044,2052,1932,3602,3673,3531,0,0,0,0,0,0,28.83,26.22,28.83
$GC,827,-1.65,-180.8,2052,1933,3672,3532,153.6,-17.0,113,834,0.00,2.17,0.00,0.000,260,0.000,0.054,2052,3329,3601,3671,3532,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,889,begin apogee
$GC,899,-0.47,0.0,2051,1991,3671,3532,164.8,-17.6,125,1054,0.82,0.00,143.73,0.572,10246,0.142,0.000,2306,1991,2857,2763,2952,0,0,0,0,0,0,25.64,28.83,24.49
$STATE,1056,end apogee,CONTROL_FINISHED_OK
$STATE,1056,begin climb
$GC,1059,1.77,180.8,2306,1991,2761,2951,174.5,0.0,141,1219,1.45,2.42,146.82,0.553,10500,0.089,0.050,2797,3400,2120,1946,2294,0,0,0,0,0,0,25.29,25.13,24.36
$GC,1249,1.77,180.8,2796,3400,1946,2291,156.6,17.6,167,1254,0.00,2.30,0.00,0.000,1030,0.000,0.042,2807,1994,2118,1946,2291,0,0,0,0,0,0,28.83,25.43,28.83
$GC,1444,1.78,189.9,2806,1994,1946,2285,124.4,16.0,187,1459,0.00,2.35,7.80,0.482,8452,0.000,0.050,2806,3403,2083,1915,2252,0,0,0,0,0,0,28.83,25.86,24.85
$GC,1498,1.78,189.9,2806,3403,1916,2250,114.7,17.5,197,1504,0.00,2.25,0.00,0.000,1030,0.000,0.044,2816,2006,2083,1916,2250,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1693,1.81,211.5,2816,2006,1916,2249,83.1,15.1,217,1718,0.00,2.30,18.67,0.511,8708,0.000,0.054,2827,587,1996,1829,2163,0,0,0,0,0,0,28.83,25.92,25.02
$GC,1761,1.81,211.5,2827,587,1830,2163,71.8,18.0,230,1769,0.10,2.25,0.00,0.000,5126,0.156,0.041,2803,2000,1996,1830,2163,0,0,0,0,0,0,25.84,26.01,28.83
$GC,1949,1.89,217.7,2803,2000,1830,2161,40.8,16.2,249,1957,0.00,0.00,6.38,0.453,8198,0.000,0.000,2804,2000,1973,1807,2139,0,0,0,0,0,0,28.83,28.83,25.07
$GC,2139,2.07,264.3,2803,2000,1807,2136,10.9,13.2,268,2166,0.15,2.25,19.42,0.063,10500,0.081,0.050,2870,3409,1784,1622,1946,0,0,0,0,0,0,26.36,26.09,26.08
$STATE,2186,end climb,SURFACE_DEPTH_REACHED
$STATE,2186,begin surface coast
$FINISH,2.2,1.021157
$STATE,2195,end surface coast,CONTROL_FINISHED_OK
$STATE,2196,begin surface
$SM_CCo,2218,14.70,0.051,0,0,1638,300.00
$SM_GC,3.94,7.50,2.45,14.70,0.049,0.045,0.051,93,1914,1638,-10.59,0.68,300.00,0,0,0,0,0,0,26.06,26.15,26.12
$IRIDIUM_FIX,4707.04,-12221.20,230921,023139
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.98
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.40
$XPDR_PINGS,9
$SC_FREEKB,3948704
$24V_AH,24.36,12.420
$10V_AH,9.21,7.376
$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,18.575,31.975,342.825,14.700,0.000,0.000,0.000,184.425,3.500,0.000,16.445,590.928,756.572,422.037,628.681,208.878,33.276,895.801,0.000,429.834,0.000,8.923,0.000
$DEVICE_MAMPS,254.745,68.850,572.220,51.255,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2205.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.603,0.000,0.000,0.000
$MEM,203676
$DATA_FILE_SIZE,10172,278
$CAP_FILE_SIZE,50230,0
$CFSIZE,260034560,244420608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2880.57,0x239dd2,7,5
$CURRENT,0.075, 99.1,1
$GPS,200714,172915,4726.309,-12222.683,13,3.1,33,18.1