version: 66.12
glider: 124
mission: 17
dive: 38
start: 7 15 114 20 11 11
data:
$ID,124
$MISSION,17
$DIVE,38
$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,-307900.69
$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,26
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,300
$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,9.1999998
$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
$GPS1,150714,200315,4726.046,-12222.385,12,1.2,14,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-67.9
$GPS2,150714,201005,4726.099,-12222.407,15,1.4,31,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,mooring
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.110,0.267
$KALMAN_X,-5801.6,-130.3,-316.3,4527.3,-116.0
$KALMAN_Y,3767.7,187.3,464.4,-1531.2,185.4
$MHEAD_RNG_PITCHd_Wd,315.8,506,-26.4,-16.667,-30.00,1390
$D_GRID,169
$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,20,-1.75,-161.4,92,1916,1536,1746,0.0,0.0,0,102,0.00,0.00,-79.47,0.000,16386,0.000,0.000,92,1916,2947,2979,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.77,-180.8,92,1916,2979,2916,3.3,-1.6,8,141,8.48,2.30,-19.05,0.000,19204,0.259,0.070,2020,504,3602,3669,3535,0,0,1,0,0,0,25.36,25.58,26.48
$GC,371,-1.68,-180.8,2020,504,3669,3536,65.1,-23.7,59,378,0.10,2.25,0.00,0.000,3078,0.227,0.047,2040,1914,3602,3669,3536,0,0,0,0,0,0,25.77,26.08,28.83
$GC,557,-1.68,-180.8,2040,1914,3669,3536,102.4,-18.8,78,563,0.00,2.30,0.00,0.000,516,0.000,0.058,2041,502,3602,3669,3536,0,0,0,0,0,0,28.83,26.01,28.83
$GC,720,-1.68,-180.8,2040,502,3669,3536,134.5,-19.8,109,727,0.00,2.28,0.00,0.000,1030,0.000,0.049,2041,1926,3602,3668,3537,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,903,begin apogee
$GC,911,-0.47,0.0,2040,2009,3669,3536,169.6,-19.1,128,1066,0.85,0.00,144.02,0.580,10246,0.146,0.000,2302,2009,2857,2753,2962,0,0,0,0,0,0,25.56,28.83,24.44
$STATE,1068,end apogee,CONTROL_FINISHED_OK
$STATE,1068,begin climb
$GC,1071,1.77,180.8,2302,2009,2752,2962,179.6,0.0,144,1227,1.48,2.40,144.95,0.558,10500,0.091,0.055,2793,3409,2119,1946,2292,0,0,0,0,0,0,25.21,25.00,24.32
$GC,1241,1.79,196.8,2792,3409,1947,2291,164.3,15.5,176,1263,0.00,2.35,13.90,0.534,9222,0.000,0.047,2803,2000,2055,1881,2229,0,0,0,0,0,0,28.83,25.20,24.43
$GC,1442,1.79,196.8,2803,2000,1881,2222,125.5,19.9,198,1447,0.00,2.28,0.00,0.000,516,0.000,0.058,2812,580,2052,1882,2222,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1462,1.79,196.8,2811,580,1882,2222,121.2,21.6,201,1469,0.00,2.30,0.00,0.000,1030,0.000,0.046,2811,2001,2052,1882,2222,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1648,1.79,196.8,2811,2001,1884,2219,84.9,17.0,220,1653,0.00,2.25,0.00,0.000,260,0.000,0.056,2812,3408,2051,1883,2219,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1672,1.79,196.8,2811,3408,1885,2216,80.5,18.5,224,1678,0.10,2.28,0.00,0.000,5126,0.180,0.047,2800,1999,2050,1886,2215,0,0,0,0,0,0,25.76,25.96,28.83
$GC,1867,1.79,197.6,2799,1999,1886,2215,48.3,16.6,244,1872,0.00,2.22,0.00,0.000,516,0.000,0.058,2809,590,2050,1886,2215,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1926,1.81,216.4,2809,590,1886,2214,39.4,15.3,255,1948,0.00,2.25,15.90,0.497,9222,0.000,0.046,2809,2002,1977,1814,2140,0,0,0,0,0,0,28.83,26.09,25.22
$GC,2138,1.96,264.9,2808,2003,1814,2138,8.3,13.1,278,2165,0.10,2.22,19.73,0.055,10500,0.106,0.056,2851,3407,1782,1623,1942,0,0,0,0,0,0,26.33,26.01,26.07
$STATE,2170,end climb,SURFACE_DEPTH_REACHED
$STATE,2171,begin surface coast
$FINISH,0.9,1.021532
$STATE,2185,end surface coast,CONTROL_FINISHED_OK
$STATE,2185,begin surface
$SM_CCo,2208,14.52,0.050,0,0,1639,300.00
$SM_GC,2.89,7.50,2.47,14.52,0.051,0.048,0.050,94,1912,1639,-10.59,0.54,300.00,0,0,0,0,0,0,26.01,26.08,26.08
$IRIDIUM_FIX,4707.04,-12222.91,180921,055022
$TT8_MAMPS,0.029211,0.029211
$HUMID,66.26
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,19.20
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,141.3,44.2
$SC_FREEKB,4005152
$24V_AH,24.32,3.331
$10V_AH,9.85,2.059
$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,18.600,32.275,338.500,14.525,0.000,0.000,0.000,232.475,4.000,0.000,32.342,588.805,749.422,411.231,686.611,216.461,33.273,942.951,0.000,444.680,0.000,11.594,0.000
$DEVICE_MAMPS,258.570,106.335,579.870,49.725,0.000,0.000,0.000,113.220,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2193.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.414,0.000,0.000,0.000
$MEM,204328
$DATA_FILE_SIZE,10122,286
$CAP_FILE_SIZE,50962,0
$CFSIZE,260034560,249630720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,3004.58,0x239dd2,7,5
$CURRENT,0.056,299.8,1
$GPS,150714,204933,4726.301,-12222.765,14,2.6,34,18.1