version: 66.12
glider: 124
mission: 17
dive: 200
start: 7 21 114 4 44 30
data:
$ID,124
$MISSION,17
$DIVE,200
$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,-309416.69
$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,29
$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
$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
$GPS1,210714,043735,4726.387,-12222.885,36,1.2,41,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-66.5
$GPS2,210714,044324,4726.393,-12222.902,10,1.6,15,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.287,0.033
$KALMAN_X,-13566.8,49.6,-349.2,11528.2,4.8
$KALMAN_Y,14587.1,-119.4,300.1,-11329.6,-142.0
$MHEAD_RNG_PITCHd_Wd,78.7,404,-26.4,-16.667,-30.00,1390
$D_GRID,181
$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,-161.4,90,1906,1535,1741,0.0,0.0,0,103,0.00,0.00,-79.85,0.000,16386,0.000,0.000,90,1906,3013,3068,2958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.77,-180.8,90,1905,3068,2959,4.0,-2.8,8,142,8.55,2.28,-13.75,0.000,18948,0.259,0.069,2021,515,3602,3674,3530,0,0,0,0,0,0,25.26,26.02,26.59
$GC,330,-1.64,-180.8,2021,515,3675,3531,60.9,-21.9,50,337,0.12,2.25,0.00,0.000,3078,0.201,0.044,2050,1932,3603,3675,3531,0,0,0,0,0,0,25.82,26.17,28.83
$GC,526,-1.64,-180.8,2050,1933,3674,3531,100.5,-19.9,70,531,0.00,2.17,0.00,0.000,260,0.000,0.054,2050,3330,3602,3674,3531,0,0,0,0,0,0,28.83,26.13,28.83
$GC,586,-1.64,-180.8,2050,3331,3674,3531,111.2,-17.0,81,593,0.00,2.25,0.00,0.000,1030,0.000,0.045,2050,1915,3602,3673,3531,0,0,0,0,0,0,28.83,26.24,28.83
$GC,772,-1.64,-180.8,2050,1915,3673,3531,145.6,-18.6,100,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1915,3602,3673,3531,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,899,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,899,begin apogee
$GC,907,-0.47,0.0,2050,2007,3672,3531,171.8,-22.0,113,1056,0.80,0.00,141.70,0.580,10246,0.142,0.000,2301,2009,2861,2771,2951,0,0,0,0,0,0,25.68,28.83,24.46
$STATE,1058,end apogee,CONTROL_FINISHED_OK
$STATE,1058,begin climb
$GC,1061,1.77,180.8,2301,2009,2769,2950,183.2,0.0,128,1213,1.48,0.00,142.95,0.562,10246,0.090,0.000,2798,2009,2122,1951,2294,0,0,0,0,0,0,25.27,28.83,24.36
$GC,1396,1.77,180.8,2798,2009,1952,2293,141.1,17.6,162,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2009,2123,1953,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1584,1.77,183.1,2798,2009,1955,2291,110.4,16.5,181,1590,0.00,2.20,0.00,0.000,260,0.000,0.051,2797,3413,2123,1956,2291,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1609,1.78,185.4,2798,3413,1957,2288,106.1,16.5,185,1621,0.00,2.28,4.15,0.421,9222,0.000,0.044,2808,1984,2106,1942,2270,0,0,0,0,0,0,28.83,26.06,24.73
$GC,1800,1.80,203.4,2808,1984,1947,2270,75.9,15.3,205,1820,0.00,0.00,17.02,0.506,8198,0.000,0.000,2808,1984,2031,1866,2196,0,0,0,0,0,0,28.83,28.83,25.08
$GC,2001,1.90,225.5,2808,1984,1870,2193,45.1,15.0,225,2028,0.00,0.00,20.08,0.500,8198,0.000,0.000,2808,1983,1939,1777,2102,0,0,0,0,0,0,28.83,28.83,25.08
$GC,2211,2.05,256.4,2808,1983,1781,2101,15.8,14.4,246,2233,0.12,2.22,13.12,0.074,10756,0.090,0.053,2869,584,1815,1654,1977,0,0,0,0,0,0,26.34,26.03,25.98
$GC,2268,2.05,256.4,2869,584,1656,1977,5.4,19.2,256,2273,0.00,2.25,0.00,0.000,1030,0.000,0.042,2869,2007,1816,1656,1977,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,2279,end climb,SURFACE_DEPTH_REACHED
$STATE,2279,begin surface coast
$FINISH,0.9,1.021227
$STATE,2290,end surface coast,CONTROL_FINISHED_OK
$STATE,2290,begin surface
$SM_CCo,2311,17.42,0.050,0,0,1638,300.00
$SM_GC,2.51,7.47,0.20,17.42,0.046,0.078,0.050,86,1913,1638,-10.61,0.82,300.00,0,0,0,0,0,0,26.06,26.26,26.12
$IRIDIUM_FIX,4707.04,-12222.91,230921,142407
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.63
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.40
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,140.0,41.2
$SC_FREEKB,3942944
$24V_AH,24.36,13.380
$10V_AH,9.24,7.922
$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,18.550,18.300,339.025,17.425,0.000,0.000,0.000,177.600,4.000,0.000,16.098,577.877,883.432,429.470,597.460,207.773,33.280,872.538,0.000,402.935,0.000,11.579,0.000
$DEVICE_MAMPS,259.335,78.030,579.870,49.725,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2299.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.584,0.000,0.000,0.000
$MEM,203668
$DATA_FILE_SIZE,6830,259
$CAP_FILE_SIZE,48956,0
$CFSIZE,260034560,243916800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2885.25,0x239dd2,7,5
$CURRENT,0.034,124.4,1
$GPS,210714,052433,4726.335,-12222.351,9,2.1,29,18.1