version: 66.12
glider: 124
mission: 17
dive: 181
start: 7 20 114 13 43 58
data:
$ID,124
$MISSION,17
$DIVE,181
$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,-309280.75
$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,30
$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,9.1999998
$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
$GPS1,200714,133507,4725.952,-12222.561,13,1.8,13,18.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-66.5
$GPS2,200714,134249,4725.994,-12222.566,15,2.0,15,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.012,0.288
$KALMAN_X,-13999.1,-95.1,-296.8,12475.2,-55.8
$KALMAN_Y,16317.8,141.9,319.6,-14082.6,74.6
$MHEAD_RNG_PITCHd_Wd,350.5,647,-26.4,-16.667,-30.00,1390
$D_GRID,170
$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,-161.4,89,1911,1531,1749,0.0,0.0,0,103,0.00,0.00,-80.30,0.000,16386,0.000,0.000,89,1912,2995,3044,2947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.77,-180.8,89,1912,3045,2947,3.5,-2.3,8,141,8.52,2.22,-15.88,0.000,19204,0.259,0.073,2021,511,3601,3671,3531,0,0,0,0,0,0,25.27,25.98,26.58
$GC,150,-1.53,-180.8,2020,511,3671,3531,12.3,-18.9,15,157,0.22,2.25,0.00,0.000,3078,0.195,0.044,2078,1923,3601,3671,3531,0,0,0,0,0,0,25.51,26.06,28.83
$GC,336,-1.53,-180.8,2077,1923,3671,3533,51.8,-19.4,34,342,0.00,2.28,0.00,0.000,516,0.000,0.053,2078,509,3601,3671,3532,0,0,0,0,0,0,28.83,26.08,28.83
$GC,572,-1.53,-180.8,2077,510,3669,3532,97.1,-17.5,80,577,0.00,2.22,0.00,0.000,1030,0.000,0.044,2078,1920,3601,3670,3533,0,0,0,0,0,0,28.83,26.22,28.83
$GC,770,-1.60,-180.8,2077,1920,3669,3533,130.7,-17.8,100,776,0.00,2.25,0.00,0.000,516,0.000,0.054,2077,512,3601,3669,3533,0,0,0,0,0,0,28.83,26.16,28.83
$GC,868,-1.60,-180.8,2077,512,3669,3533,149.0,-17.8,118,878,0.00,2.22,0.00,0.000,1030,0.000,0.044,2078,1929,3601,3669,3533,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,996,begin apogee
$GC,1004,-0.47,0.0,2078,2003,3669,3533,171.1,-15.4,131,1158,0.73,0.00,143.73,0.579,10246,0.135,0.000,2307,2003,2857,2763,2952,0,0,0,0,0,0,25.72,28.83,24.45
$STATE,1160,end apogee,CONTROL_FINISHED_OK
$STATE,1160,begin climb
$GC,1163,1.77,180.8,2307,2003,2762,2952,181.2,0.0,147,1319,1.42,0.00,147.52,0.553,10502,0.084,0.000,2793,2003,2122,1947,2298,0,0,0,0,0,0,25.29,28.83,24.36
$GC,1498,1.77,180.8,2792,2003,1946,2285,138.6,16.8,186,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2003,2115,1946,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1689,1.88,216.7,2793,2003,1946,2283,109.7,14.0,205,1726,0.10,0.00,29.52,0.514,10246,0.103,0.000,2839,2003,1977,1807,2148,0,0,0,0,0,0,26.25,28.83,24.94
$GC,1908,1.88,216.7,2839,2003,1808,2145,68.3,19.1,227,1913,0.00,2.20,0.00,0.000,260,0.000,0.054,2839,3403,1976,1808,2145,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1967,1.88,216.7,2839,3403,1809,2141,56.5,21.3,238,1974,0.12,2.25,0.00,0.000,5126,0.164,0.046,2818,2002,1975,1809,2141,0,0,0,0,0,0,25.83,26.06,28.83
$GC,2154,1.98,229.5,2818,2002,1809,2141,26.0,15.7,257,2167,0.10,2.30,7.18,0.422,10756,0.103,0.056,2868,591,1924,1759,2090,0,0,0,0,0,0,26.41,26.11,25.11
$GC,2215,1.98,229.5,2868,591,1760,2089,14.4,18.7,268,2223,0.12,2.22,0.00,0.000,5126,0.149,0.043,2836,1993,1923,1758,2089,0,0,0,0,0,0,25.95,26.17,28.83
$STATE,2298,end climb,SURFACE_DEPTH_REACHED
$STATE,2298,begin surface coast
$FINISH,0.8,1.000985
$STATE,2319,end surface coast,CONTROL_FINISHED_OK
$STATE,2320,begin surface
$SM_CCo,2341,28.30,0.049,0,0,1639,300.00
$SM_GC,1.49,7.43,0.17,28.30,0.050,0.077,0.049,91,1913,1639,-10.61,0.79,300.00,0,0,0,0,0,0,26.05,26.36,26.17
$IRIDIUM_FIX,4707.04,-12225.59,220921,232219
$TT8_MAMPS,0.029211,0.029211
$HUMID,65.90
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.40
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,150.9,38.1
$SC_FREEKB,3950240
$24V_AH,24.36,12.184
$10V_AH,9.48,7.231
$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,18.775,22.700,327.950,28.300,0.000,0.000,0.000,230.700,4.500,0.000,16.222,609.613,919.531,430.743,680.490,210.841,33.277,947.738,0.000,437.171,0.000,15.610,0.000
$DEVICE_MAMPS,258.570,113.220,579.105,48.960,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2328.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.276,0.000,0.000,0.000
$MEM,203732
$DATA_FILE_SIZE,10144,279
$CAP_FILE_SIZE,51282,0
$CFSIZE,260034560,244555776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3021.17,0x239dd2,7,5
$CURRENT,0.049,266.7,1
$GPS,200714,142445,4726.213,-12222.706,13,2.1,33,18.1