version: 66.12
glider: 124
mission: 17
dive: 227
start: 7 22 114 6 34 37
data:
$ID,124
$MISSION,17
$DIVE,227
$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,4
$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,-310287.34
$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,29
$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
$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,48
$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
$GPS1,220714,062749,4726.286,-12222.597,13,1.5,13,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-67.5
$GPS2,220714,063331,4726.286,-12222.592,15,1.5,15,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,600.000
$KALMAN_CONTROL,0.002,0.289
$KALMAN_X,-14673.6,-166.3,94.6,12795.2,1.3
$KALMAN_Y,19545.4,-147.9,467.2,-16632.0,-160.8
$MHEAD_RNG_PITCHd_Wd,345.8,105,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.75,-161.4,89,1902,1540,1739,0.0,0.0,0,94,0.00,0.00,-70.70,0.000,16386,0.000,0.000,89,1903,2832,2858,2806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-1.77,-180.8,89,1902,2858,2806,3.1,-1.8,7,136,8.52,2.30,-22.60,0.000,18948,0.257,0.067,2023,505,3602,3675,3529,0,0,0,0,0,0,25.27,26.01,26.62
$GC,210,-1.59,-180.8,2023,504,3676,3530,29.1,-26.2,28,218,0.15,2.25,0.00,0.000,3078,0.194,0.044,2060,1918,3602,3675,3530,0,0,0,0,0,0,25.71,26.11,28.83
$GC,396,-1.59,-180.8,2060,1919,3675,3530,70.2,-20.7,47,402,0.00,2.22,0.00,0.000,260,0.000,0.055,2060,3340,3602,3675,3530,0,0,0,0,0,0,28.83,26.09,28.83
$GC,450,-1.59,-180.8,2060,3340,3675,3529,80.7,-19.2,57,457,0.00,2.28,0.00,0.000,1030,0.000,0.047,2061,1914,3602,3675,3530,0,0,0,0,0,0,28.83,26.20,28.83
$GC,645,-1.59,-180.8,2060,1915,3674,3530,118.4,-19.2,77,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,1914,3602,3674,3530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,828,-1.59,-180.8,2060,1915,3673,3530,151.1,-18.6,95,834,0.00,2.20,0.00,0.000,516,0.000,0.054,2060,502,3601,3673,3530,0,0,0,0,0,0,28.83,26.20,28.83
$GC,925,-1.59,-180.8,2060,502,3672,3530,170.3,-20.1,113,932,0.00,2.25,0.00,0.000,1030,0.000,0.044,2060,1929,3601,3672,3530,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,1107,end dive,NO_VERTICAL_VELOCITY
$STATE,1108,begin apogee
$GC,1116,-0.47,0.0,2063,2010,3670,3532,174.5,0.0,132,1265,0.68,0.00,141.77,0.577,10246,0.073,0.000,2309,2011,2860,2769,2951,0,0,0,0,0,0,26.22,28.83,24.48
$STATE,1266,end apogee,CONTROL_FINISHED_OK
$STATE,1266,begin climb
$GC,1270,1.77,180.8,2309,2010,2767,2950,174.4,0.0,147,1424,1.40,2.42,143.20,0.551,10756,0.076,0.055,2798,577,2121,1952,2290,0,0,0,0,0,0,25.35,25.18,24.37
$GC,1630,1.89,212.6,2796,576,1952,2284,133.7,14.3,217,1663,0.10,2.25,25.52,0.528,11270,0.099,0.042,2845,1985,1992,1829,2156,0,0,0,0,0,0,25.92,25.94,24.78
$GC,1842,1.89,212.6,2844,1986,1829,2153,95.9,17.6,241,1849,0.10,2.28,0.00,0.000,4612,0.158,0.050,2830,582,1991,1829,2153,0,0,0,0,0,0,26.06,25.94,28.83
$GC,1863,1.89,212.6,2830,582,1829,2153,92.3,17.1,244,1870,0.00,2.28,0.00,0.000,1030,0.000,0.042,2830,2010,1991,1829,2153,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2049,1.92,237.4,2830,2010,1829,2151,62.8,14.8,263,2075,0.00,2.22,20.98,0.505,8452,0.000,0.050,2830,3421,1891,1731,2051,0,0,0,0,0,0,28.83,26.00,25.06
$GC,2109,1.92,237.4,2830,3421,1736,2051,52.6,18.1,274,2115,0.00,2.28,0.00,0.000,1030,0.000,0.044,2840,1988,1893,1736,2051,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2294,1.92,238.0,2840,1989,1739,2051,21.7,16.6,293,2300,0.00,2.17,0.00,0.000,516,0.000,0.054,2851,597,1895,1740,2051,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2334,1.93,247.2,2851,597,1739,2051,15.2,16.0,300,2346,0.00,2.22,4.32,0.073,9222,0.000,0.043,2851,2005,1853,1698,2008,0,0,0,0,0,0,28.83,26.18,25.99
$STATE,2411,end climb,SURFACE_DEPTH_REACHED
$STATE,2411,begin surface coast
$FINISH,0.9,1.021384
$STATE,2426,end surface coast,CONTROL_FINISHED_OK
$STATE,2426,begin surface
$SM_CCo,2447,21.08,0.049,0,0,1639,300.00
$SM_GC,1.74,7.40,0.17,21.08,0.045,0.074,0.049,87,1932,1639,-10.61,1.13,300.00,0,0,0,0,0,0,26.11,26.38,26.17
$IRIDIUM_FIX,4710.21,-12220.22,240921,162725
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.67
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,13.70
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,151.1,34.2
$SC_FREEKB,3932576
$24V_AH,24.37,15.241
$10V_AH,9.44,9.085
$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,18.350,31.900,335.800,21.075,0.000,0.000,0.000,170.025,3.750,0.000,16.191,646.204,885.318,406.366,668.856,223.004,33.264,896.784,0.000,482.005,0.000,10.265,0.000
$DEVICE_MAMPS,257.040,110.925,576.810,48.960,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2437.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.875,0.000,0.000,0.000
$MEM,203772
$DATA_FILE_SIZE,10139,310
$CAP_FILE_SIZE,54594,0
$CFSIZE,260034560,242913280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2206.42,0x239dd2,7,5
$CURRENT,0.065,271.4,1
$GPS,220714,071700,4726.582,-12222.646,11,1.8,28,18.1