version: 66.12
glider: 124
mission: 17
dive: 189
start: 7 20 114 19 52 50
data:
$ID,124
$MISSION,17
$DIVE,189
$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,-309290.75
$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,30
$R_STBD_OVSHOOT,32
$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
$GPS1,200714,194613,4726.435,-12222.606,15,1.3,15,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-68.9
$GPS2,200714,195143,4726.405,-12222.605,12,1.9,12,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.228,0.177
$KALMAN_X,-13301.4,-39.2,295.4,11078.1,150.5
$KALMAN_Y,14998.6,-62.6,-344.0,-11137.1,-215.8
$MHEAD_RNG_PITCHd_Wd,142.8,117,-26.4,-16.667,-30.00,1390
$D_GRID,179
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-1.75,-161.4,91,1914,1541,1744,0.0,0.0,0,93,0.00,0.00,-70.03,0.000,16386,0.000,0.000,91,1914,2862,2892,2832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.77,-180.8,91,1914,2892,2833,3.7,-2.7,7,130,8.48,2.40,-18.40,0.000,18692,0.257,0.069,2020,3325,3600,3677,3524,0,0,0,0,0,0,25.27,25.60,26.60
$GC,361,-1.77,-180.8,2020,3325,3677,3527,65.6,-23.6,58,368,0.00,2.25,0.00,0.000,1030,0.000,0.045,2020,1915,3602,3677,3527,0,0,0,0,0,0,28.83,26.17,28.83
$GC,547,-1.77,-180.8,2020,1915,3676,3527,107.7,-20.5,77,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1915,3601,3676,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,727,-1.77,-180.8,2020,1915,3676,3527,143.3,-20.4,95,732,0.00,2.28,0.00,0.000,260,0.000,0.054,2020,3332,3601,3676,3527,0,0,0,0,0,0,28.83,26.15,28.83
$GC,781,-1.77,-180.8,2020,3332,3676,3527,154.2,-20.4,105,787,0.00,2.25,0.00,0.000,1030,0.000,0.045,2020,1914,3601,3676,3527,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,910,begin apogee
$GC,918,-0.47,0.0,2020,2008,3676,3527,180.1,-21.0,118,1069,0.93,0.00,142.85,0.572,10246,0.151,0.000,2304,2009,2858,2772,2945,0,0,0,0,0,0,25.60,28.83,24.48
$STATE,1070,end apogee,CONTROL_FINISHED_OK
$STATE,1070,begin climb
$GC,1074,1.77,180.8,2303,2009,2769,2944,192.0,0.0,134,1228,1.48,0.00,146.43,0.558,10246,0.090,0.000,2799,2009,2120,1955,2286,0,0,0,0,0,0,25.27,28.83,24.36
$GC,1410,1.77,180.8,2799,2009,1954,2278,150.8,16.8,168,1415,0.00,2.22,0.00,0.000,260,0.000,0.052,2799,3409,2116,1954,2278,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1488,1.77,180.8,2798,3411,1955,2273,136.1,18.2,183,1495,0.00,2.28,0.00,0.000,1030,0.000,0.045,2809,1993,2114,1955,2273,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1676,1.78,192.8,2809,1993,1955,2272,105.3,15.8,202,1691,0.00,2.22,9.43,0.480,8708,0.000,0.054,2819,583,2073,1917,2230,0,0,0,0,0,0,28.83,26.03,25.04
$GC,1714,1.78,192.8,2819,583,1917,2230,98.5,17.2,209,1722,0.00,2.25,0.00,0.000,1030,0.000,0.042,2819,2006,2073,1917,2230,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1900,1.78,192.8,2819,2006,1917,2229,66.5,17.5,228,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2006,2073,1917,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2081,1.81,214.9,2819,2006,1917,2228,38.0,15.0,246,2110,0.00,2.35,19.80,0.485,8708,0.000,0.054,2828,591,1982,1825,2139,0,0,0,0,0,0,28.83,26.08,25.19
$GC,2138,1.84,242.1,2827,591,1825,2139,29.2,14.7,255,2165,0.00,2.22,19.10,0.473,9222,0.000,0.042,2828,1999,1872,1711,2034,0,0,0,0,0,0,28.83,26.12,25.06
$STATE,2310,end climb,SURFACE_DEPTH_REACHED
$STATE,2311,begin surface coast
$FINISH,0.9,1.020997
$STATE,2332,end surface coast,CONTROL_FINISHED_OK
$STATE,2332,begin surface
$SM_CCo,2352,22.73,0.050,0,0,1638,300.00
$SM_GC,2.57,7.38,0.17,22.73,0.046,0.080,0.050,89,1919,1638,-10.60,1.02,300.00,0,0,0,0,0,0,26.02,26.23,26.08
$IRIDIUM_FIX,4719.74,-12227.05,230921,053449
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.86
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.40
$XPDR_PINGS,9
$SC_FREEKB,3947168
$24V_AH,24.36,12.687
$10V_AH,9.75,7.512
$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,18.250,23.100,337.600,22.725,0.000,0.000,0.000,162.200,4.250,0.000,13.392,609.521,878.219,421.698,605.485,210.899,33.276,860.695,0.000,432.243,0.000,14.848,0.000
$DEVICE_MAMPS,257.040,79.560,572.220,49.725,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2341.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.421,0.000,0.000,0.000
$MEM,203696
$DATA_FILE_SIZE,10116,277
$CAP_FILE_SIZE,49574,0
$CFSIZE,260034560,244289536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2856.70,0x239dd2,7,5
$CURRENT,0.099,241.6,1
$GPS,200714,203339,4726.034,-12222.670,7,2.7,27,18.1