version: 66.12
glider: 124
mission: 17
dive: 202
start: 7 21 114 6 18 1
data:
$ID,124
$MISSION,17
$DIVE,202
$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,-309419.19
$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,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
$GPS1,210714,061049,4726.360,-12222.822,11,1.2,11,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-68.3
$GPS2,210714,061655,4726.315,-12222.805,15,1.3,15,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.194,0.214
$KALMAN_X,-13616.6,-20.6,-264.2,11684.6,2.6
$KALMAN_Y,14226.7,-99.0,74.9,-10909.5,-246.4
$MHEAD_RNG_PITCHd_Wd,53.0,275,-26.4,-16.667,-30.00,1390
$D_GRID,182
$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,-161.4,89,1909,1533,1747,0.0,0.0,0,94,0.00,0.00,-70.65,0.000,16386,0.000,0.000,89,1909,2823,2849,2797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.77,-180.8,89,1909,2848,2797,3.3,-2.1,7,136,8.52,2.22,-21.65,0.000,18948,0.259,0.067,2019,510,3601,3672,3531,0,0,0,0,0,0,25.24,25.98,26.57
$GC,217,-1.63,-180.8,2019,510,3674,3531,29.2,-25.6,29,224,0.15,2.25,0.00,0.000,3078,0.200,0.045,2055,1926,3602,3673,3531,0,0,0,0,0,0,25.69,26.09,28.83
$GC,413,-1.63,-180.8,2055,1926,3672,3531,72.7,-20.4,49,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,1927,3601,3672,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,593,-1.63,-180.8,2055,1926,3671,3531,107.3,-18.9,67,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,1926,3601,3671,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,773,-1.63,-180.8,2055,1926,3671,3529,139.1,-17.2,85,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,1926,3601,3671,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,953,-1.63,-180.8,2055,1927,3670,3531,171.8,-17.7,103,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,1930,3600,3670,3531,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1010,begin apogee
$GC,1018,-0.47,0.0,2055,2012,3670,3531,182.0,-17.4,109,1173,0.80,0.00,143.55,0.584,10246,0.140,0.000,2306,2012,2858,2766,2951,0,0,0,0,0,0,25.70,28.83,24.46
$STATE,1175,end apogee,CONTROL_FINISHED_OK
$STATE,1175,begin climb
$GC,1178,1.77,180.8,2306,2012,2764,2950,191.5,0.0,125,1335,1.45,2.35,146.00,0.555,10500,0.091,0.050,2793,3406,2119,1946,2293,0,0,0,0,0,0,25.29,25.16,24.37
$GC,1386,1.78,191.4,2793,3406,1947,2291,171.8,15.9,164,1403,0.00,2.30,9.55,0.500,9222,0.000,0.044,2803,2002,2078,1906,2250,0,0,0,0,0,0,28.83,25.52,24.51
$GC,1582,1.78,191.4,2803,2002,1906,2247,138.1,17.1,185,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2002,2076,1906,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1764,1.87,215.8,2803,2002,1907,2246,109.2,14.9,203,1790,0.00,0.00,20.85,0.522,8198,0.000,0.000,2803,2002,1977,1808,2147,0,0,0,0,0,0,28.83,28.83,24.99
$GC,1973,1.96,217.4,2803,2002,1809,2145,75.5,16.6,224,1979,0.12,2.28,0.00,0.000,2308,0.087,0.050,2863,3407,1977,1809,2145,0,0,0,0,0,0,26.28,26.02,28.83
$GC,2028,1.96,217.4,2863,3407,1813,2142,65.0,20.0,234,2035,0.15,2.25,0.00,0.000,5126,0.158,0.044,2835,1991,1977,1813,2142,0,0,0,0,0,0,25.84,26.11,28.83
$GC,2224,1.98,230.4,2834,1991,1813,2141,31.9,15.7,254,2235,0.00,0.00,8.35,0.454,8198,0.000,0.000,2835,1991,1921,1756,2086,0,0,0,0,0,0,28.83,28.83,25.08
$GC,2414,2.13,280.6,2834,1991,1758,2080,3.3,13.0,273,2421,0.12,0.00,3.72,0.049,10754,0.094,0.000,2893,1991,1878,1714,2042,0,0,0,0,0,0,26.43,28.83,28.83
$STATE,2422,end climb,SURFACE_DEPTH_REACHED
$STATE,2422,begin surface coast
$FINISH,0.8,1.010397
$STATE,2448,end surface coast,CONTROL_FINISHED_OK
$STATE,2448,begin surface
$SM_CCo,2470,23.98,0.050,0,0,1638,300.00
$SM_GC,1.68,7.55,0.10,23.98,0.049,0.111,0.050,90,1919,1638,-10.61,1.02,300.00,0,0,0,0,0,0,26.12,26.46,26.20
$IRIDIUM_FIX,4657.54,-12217.81,230921,160056
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.22
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.50
$XPDR_PINGS,9
$SC_FREEKB,3942176
$24V_AH,24.37,13.503
$10V_AH,9.26,7.995
$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,18.875,13.875,332.025,23.975,0.000,0.000,0.000,194.700,4.500,0.000,16.441,609.288,1010.663,396.193,644.465,217.539,33.278,878.602,0.000,435.283,0.000,17.643,0.000
$DEVICE_MAMPS,258.570,110.925,583.695,49.725,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2459.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.903,0.000,0.000,0.000
$MEM,203656
$DATA_FILE_SIZE,10144,277
$CAP_FILE_SIZE,51777,0
$CFSIZE,260034560,243838976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2800.26,0x239dd2,7,5
$CURRENT,0.005, 55.7,1
$GPS,210714,070048,4726.494,-12222.316,11,2.0,28,18.1