version: 66.12
glider: 124
mission: 17
dive: 239
start: 7 22 114 16 1 39
data:
$ID,124
$MISSION,17
$DIVE,239
$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,-310302.34
$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,33
$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
$GPS1,220714,155424,4726.462,-12222.801,9,1.6,14,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-69.2
$GPS2,220714,160033,4726.458,-12222.833,14,8.9,34,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,600.000
$KALMAN_CONTROL,0.164,-0.237
$KALMAN_X,-15663.8,-185.7,-192.1,13787.3,57.7
$KALMAN_Y,20639.5,-212.2,-109.0,-16765.8,147.9
$MHEAD_RNG_PITCHd_Wd,98.8,373,-26.4,-16.667,-30.00,1390
$D_GRID,154
$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,-161.4,90,1923,1531,1745,0.0,0.0,0,85,0.00,0.00,-61.33,0.000,16386,0.000,0.000,91,1923,2684,2697,2672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-1.77,-180.8,90,1923,2697,2673,3.0,-1.9,6,133,8.57,2.33,-28.80,0.000,18948,0.259,0.070,2023,510,3601,3672,3530,0,0,0,0,0,0,25.21,25.15,26.61
$GC,161,-1.59,-180.8,2023,510,3674,3530,13.3,-19.9,18,167,0.15,2.25,0.00,0.000,3078,0.197,0.046,2058,1917,3601,3674,3529,0,0,0,0,0,0,25.67,26.08,28.83
$GC,356,-1.59,-180.8,2059,1917,3673,3531,57.1,-19.9,38,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,1917,3602,3673,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,536,-1.59,-180.8,2059,1917,3671,3531,92.0,-17.8,56,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,1917,3601,3672,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,718,-1.59,-180.8,2059,1917,3671,3531,124.4,-17.7,74,723,0.00,2.20,0.00,0.000,260,0.000,0.056,2059,3330,3600,3670,3531,0,0,0,0,0,0,28.83,26.16,28.83
$GC,788,-1.59,-180.8,2059,3330,3671,3531,135.1,-14.6,87,794,0.00,2.25,0.00,0.000,1030,0.000,0.047,2060,1915,3601,3671,3531,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,923,begin apogee
$GC,931,-0.47,0.0,2059,2008,3670,3531,154.9,-15.8,101,1084,0.77,0.00,142.70,0.562,10246,0.139,0.000,2304,2009,2858,2767,2950,0,0,0,0,0,0,25.70,28.83,24.47
$STATE,1086,end apogee,CONTROL_FINISHED_OK
$STATE,1086,begin climb
$GC,1089,1.77,180.8,2304,2009,2765,2950,160.5,0.0,117,1247,1.45,2.33,144.73,0.535,10500,0.091,0.054,2791,3413,2120,1947,2293,0,0,0,0,0,0,25.31,25.18,24.38
$GC,1285,1.83,227.1,2791,3413,1947,2291,142.6,13.3,154,1333,0.00,2.33,38.05,0.520,9222,0.000,0.044,2802,1988,1931,1756,2107,0,0,0,0,0,0,28.83,25.50,24.46
$GC,1513,1.89,227.1,2801,1988,1764,2107,101.3,19.2,181,1518,0.00,2.20,0.00,0.000,516,0.000,0.055,2811,597,1936,1765,2107,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1551,1.96,227.1,2811,597,1766,2107,94.2,18.2,188,1558,0.10,2.25,0.00,0.000,3078,0.102,0.044,2855,2005,1936,1765,2107,0,0,0,0,0,0,25.94,25.96,28.83
$GC,1738,1.96,227.1,2855,2005,1766,2106,58.9,17.0,207,1743,0.00,2.20,0.00,0.000,260,0.000,0.053,2855,3411,1936,1766,2106,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1772,1.96,227.1,2855,3411,1767,2105,52.4,20.3,213,1778,0.12,2.25,0.00,0.000,5126,0.158,0.046,2835,2005,1936,1767,2105,0,0,0,0,0,0,25.90,26.11,28.83
$GC,1968,2.08,266.9,2834,2005,1767,2105,21.4,13.7,233,2005,0.10,2.30,28.83,0.464,10756,0.106,0.054,2886,580,1770,1611,1929,0,0,0,0,0,0,26.46,25.99,25.10
$GC,2047,2.08,266.9,2886,580,1611,1926,8.1,19.9,247,2053,0.10,2.28,0.00,0.000,5126,0.158,0.044,2863,2008,1768,1611,1926,0,0,0,0,0,0,25.89,26.05,28.83
$STATE,2069,end climb,SURFACE_DEPTH_REACHED
$STATE,2069,begin surface coast
$FINISH,1.1,1.020935
$STATE,2081,end surface coast,CONTROL_FINISHED_OK
$STATE,2081,begin surface
$SM_CCo,2101,12.70,0.050,0,0,1639,300.00
$SM_GC,3.55,7.50,0.20,12.70,0.048,0.070,0.050,91,1914,1639,-10.61,0.76,300.00,0,0,0,0,0,0,25.93,26.20,26.05
$IRIDIUM_FIX,4707.04,-12129.99,250921,014351
$TT8_MAMPS,0.028462,0.028462
$HUMID,64.37
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,120.7,49.9
$SC_FREEKB,3927968
$24V_AH,24.38,15.986
$10V_AH,9.09,9.519
$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,18.875,27.550,354.300,12.700,0.000,0.000,0.000,175.350,4.500,0.000,35.051,522.604,760.849,405.651,602.941,208.631,33.279,866.343,0.000,388.137,0.000,5.551,0.000
$DEVICE_MAMPS,259.335,71.145,561.510,49.725,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2092.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.041,0.000,0.000,0.000
$MEM,203716
$DATA_FILE_SIZE,6811,251
$CAP_FILE_SIZE,48749,0
$CFSIZE,260034560,242507776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2851.58,0x239dd2,7,5
$CURRENT,0.066,122.4,1
$GPS,220714,163749,4726.275,-12222.341,10,1.3,10,18.1