version: 66.12
glider: 124
mission: 17
dive: 237
start: 7 22 114 14 27 35
data:
$ID,124
$MISSION,17
$DIVE,237
$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,-310299.84
$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,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
$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
$GPS1,220714,142013,4725.931,-12222.106,9,1.9,9,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-68.4
$GPS2,220714,142631,4725.946,-12222.113,13,1.8,13,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,600.000
$KALMAN_CONTROL,-0.217,0.212
$KALMAN_X,-15710.6,-215.2,-223.9,14801.6,-51.0
$KALMAN_Y,20521.8,-398.6,-175.4,-17342.9,172.6
$MHEAD_RNG_PITCHd_Wd,306.6,945,-25.0,-16.667,-28.75,1541
$D_GRID,168
$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,-1.69,-180.8,94,1914,1534,1750,0.0,0.0,0,94,0.00,0.00,-70.30,0.000,16386,0.000,0.000,94,1914,2849,2880,2818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-1.69,-180.8,94,1914,2880,2819,3.4,-1.9,7,133,8.57,0.00,-19.92,0.000,18438,0.256,0.000,2034,1877,3600,3671,3530,0,0,0,0,0,0,25.24,28.83,26.61
$GC,315,-1.57,-180.8,2034,1875,3671,3532,52.7,-23.0,29,322,0.12,2.33,0.00,0.000,2308,0.207,0.054,2069,3339,3601,3671,3532,0,0,0,0,0,0,26.01,26.05,28.83
$GC,387,-1.57,-180.8,2069,3339,3671,3532,66.7,-18.0,42,393,0.00,2.28,0.00,0.000,1030,0.000,0.047,2069,1915,3601,3671,3531,0,0,0,0,0,0,28.83,26.17,28.83
$GC,573,-1.57,-180.8,2069,1914,3670,3532,101.7,-18.2,61,579,0.00,2.20,0.00,0.000,516,0.000,0.055,2069,503,3601,3670,3532,0,0,0,0,0,0,28.83,26.14,28.83
$GC,628,-1.57,-180.8,2069,502,3669,3532,112.4,-19.7,71,633,0.00,2.25,0.00,0.000,1030,0.000,0.045,2069,1928,3600,3669,3532,0,0,0,0,0,0,28.83,26.22,28.83
$GC,823,-1.57,-180.8,2069,1928,3669,3532,150.0,-19.2,91,831,0.00,2.17,0.00,0.000,260,0.000,0.055,2069,3327,3600,3669,3532,0,0,0,0,0,0,28.83,26.17,28.83
$GC,874,-1.57,-180.8,2068,3328,3669,3532,159.2,-16.5,100,884,0.00,2.22,0.00,0.000,1030,0.000,0.044,2069,1917,3600,3669,3532,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,930,begin apogee
$GC,938,-0.47,0.0,2069,2009,3669,3532,168.6,-16.2,106,1093,0.75,0.00,142.60,0.576,10246,0.140,0.000,2304,2009,2858,2766,2951,0,0,0,0,0,0,25.67,28.83,24.44
$STATE,1095,end apogee,CONTROL_FINISHED_OK
$STATE,1095,begin climb
$GC,1098,1.69,180.8,2304,2009,2765,2951,173.3,0.0,122,1254,1.38,2.40,145.00,0.542,11012,0.078,0.053,2786,588,2119,1946,2293,0,0,0,0,0,0,25.34,25.15,24.36
$GC,1487,1.71,197.1,2786,588,1948,2291,126.4,15.6,197,1509,0.00,2.25,13.75,0.503,9222,0.000,0.042,2786,2003,2054,1885,2224,0,0,0,0,0,0,28.83,25.96,24.82
$GC,1698,1.73,219.8,2786,2004,1886,2222,93.5,15.2,220,1724,0.00,2.33,19.45,0.509,8708,0.000,0.055,2786,588,1962,1794,2130,0,0,0,0,0,0,28.83,25.88,24.91
$GC,1786,1.85,249.9,2786,588,1798,2130,81.3,14.7,236,1819,0.10,2.25,25.67,0.508,11270,0.100,0.042,2837,2005,1841,1675,2007,0,0,0,0,0,0,25.99,26.01,24.83
$GC,1998,1.85,249.9,2837,2005,1675,2003,42.3,17.1,260,2000,0.10,0.00,0.00,0.000,4102,0.155,0.000,2813,2004,1839,1675,2003,0,0,0,0,0,0,26.10,28.83,28.83
$GC,2180,1.93,252.8,2812,2005,1675,2003,13.0,16.5,278,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2005,1839,1675,2003,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2257,end climb,SURFACE_DEPTH_REACHED
$STATE,2257,begin surface coast
$FINISH,0.9,1.020920
$STATE,2277,end surface coast,CONTROL_FINISHED_OK
$STATE,2277,begin surface
$SM_CCo,2298,19.58,0.049,0,0,1638,300.00
$SM_GC,2.19,7.32,0.20,19.58,0.047,0.072,0.049,90,1912,1638,-10.61,0.71,300.00,0,0,0,0,0,0,26.06,26.34,26.17
$IRIDIUM_FIX,4710.21,-12224.61,250921,001028
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.19
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,8
$SC_FREEKB,3928736
$24V_AH,24.36,15.865
$10V_AH,9.20,9.448
$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,18.350,23.075,346.475,19.575,0.000,0.000,0.000,206.275,3.750,0.000,14.019,599.058,818.436,414.594,650.170,229.538,33.287,925.708,0.000,444.103,0.000,14.506,0.000
$DEVICE_MAMPS,256.275,71.910,576.045,48.960,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2288.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.596,0.000,0.000,0.000
$MEM,204068
$DATA_FILE_SIZE,10144,288
$CAP_FILE_SIZE,51049,0
$CFSIZE,260034560,242569216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2794.07,0x239dd2,7,5
$CURRENT,0.080,296.0,1
$GPS,220714,150729,4726.218,-12222.391,11,2.1,31,18.1