version: 66.12
glider: 124
mission: 17
dive: 241
start: 7 22 114 17 36 4
data:
$ID,124
$MISSION,17
$DIVE,241
$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,-310304.84
$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,31
$R_STBD_OVSHOOT,24
$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
$GPS1,220714,172521,4726.384,-12222.657,10,7.2,30,18.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-68.3
$GPS2,220714,173457,4726.339,-12222.645,11,4.2,31,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,600.000
$KALMAN_CONTROL,-0.193,-0.215
$KALMAN_X,-15366.7,-115.7,-54.1,13518.5,210.9
$KALMAN_Y,20618.0,-56.1,-16.2,-17211.8,162.0
$MHEAD_RNG_PITCHd_Wd,56.4,70,-26.4,-16.667,-30.00,1390
$D_GRID,188
$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,-161.4,94,1914,1540,1746,0.0,0.0,0,94,0.00,0.00,-70.05,0.000,16386,0.000,0.000,94,1915,2819,2844,2794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-1.77,-180.8,95,1915,2844,2795,3.0,-1.5,7,141,8.55,2.28,-25.62,0.000,18692,0.258,0.070,2022,3332,3601,3670,3533,0,0,0,0,0,0,25.24,25.96,26.60
$GC,211,-1.69,-180.8,2023,3332,3671,3534,24.3,-23.8,28,218,0.00,2.28,0.00,0.000,1030,0.000,0.047,2023,1918,3602,3671,3534,0,0,0,0,0,0,28.83,26.09,28.83
$GC,397,-1.61,-180.8,2023,1915,3670,3534,67.2,-21.9,47,403,0.12,2.22,0.00,0.000,2564,0.189,0.054,2059,501,3602,3670,3534,0,0,0,0,0,0,26.06,26.08,28.83
$GC,426,-1.61,-180.8,2059,501,3669,3534,73.7,-22.1,52,433,0.00,2.28,0.00,0.000,1030,0.000,0.045,2059,1935,3601,3669,3534,0,0,0,0,0,0,28.83,26.17,28.83
$GC,612,-1.61,-180.8,2058,1936,3668,3534,109.4,-19.5,71,617,0.00,2.17,0.00,0.000,260,0.000,0.054,2060,3330,3601,3669,3534,0,0,0,0,0,0,28.83,26.12,28.83
$GC,651,-1.61,-180.8,2059,3330,3669,3534,116.2,-16.0,78,658,0.00,2.25,0.00,0.000,1030,0.000,0.046,2060,1915,3601,3669,3534,0,0,0,0,0,0,28.83,26.25,28.83
$GC,837,-1.61,-180.8,2059,1915,3668,3535,146.8,-16.6,97,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,1915,3601,3668,3534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1027,-1.92,-180.8,2059,1915,3668,3535,168.5,0.1,116,1033,0.20,2.20,0.00,0.000,4612,0.083,0.053,1981,504,3601,3667,3535,0,0,0,0,0,0,26.47,26.20,28.83
$STATE,1106,end dive,NO_VERTICAL_VELOCITY
$STATE,1106,begin apogee
$GC,1115,-0.47,0.0,1981,2010,3667,3535,168.5,0.0,131,1268,0.98,0.00,141.70,0.569,10246,0.107,0.000,2307,2010,2858,2765,2952,0,0,0,0,0,0,25.91,28.83,24.46
$STATE,1270,end apogee,CONTROL_FINISHED_OK
$STATE,1270,begin climb
$GC,1274,1.77,180.8,2307,2010,2764,2951,168.4,0.0,147,1427,1.48,2.38,143.27,0.543,10500,0.100,0.056,2790,3408,2120,1942,2299,0,0,0,0,0,0,25.28,25.17,24.35
$FREEZE,168.63,10.749,-1.767,0,1,0
$STATE,1433,end climb,NO_VERTICAL_VELOCITY
$STATE,1433,begin surface
$SM_CCo,1438,300.02,0.516,0,0,649,542.60
$SM_GC,1.54,7.25,2.45,0.00,0.047,0.045,0.000,90,1913,642,-10.61,0.54,544.57,0,0,0,0,0,0,26.10,26.20,28.83
$IRIDIUM_FIX,4710.21,-12221.92,250921,040149
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.02
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,20.00
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,150.8,28.0
$SC_FREEKB,3927200
$24V_AH,24.35,16.142
$10V_AH,9.60,9.586
$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,18.575,22.975,284.975,300.025,0.000,0.000,0.000,325.450,4.250,0.000,32.509,388.947,1165.506,643.186,626.309,203.258,33.278,1199.003,0.000,277.487,0.000,10.251,0.000
$DEVICE_MAMPS,257.805,162.180,569.160,516.375,0.000,0.000,0.000,109.395,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1443.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.697,0.000,0.000,0.000
$MEM,203644
$DATA_FILE_SIZE,3498,178
$CAP_FILE_SIZE,44153,0
$CFSIZE,260034560,242450432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,251.4,1
$GPS,220714,181800,4726.351,-12222.578,39,1.6,39,18.1