version: 66.12
glider: 124
mission: 17
dive: 187
start: 7 20 114 18 23 41
data:
$ID,124
$MISSION,17
$DIVE,187
$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,-309288.25
$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,32
$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
$GPS1,200714,181659,4726.403,-12222.504,32,1.7,36,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-63.1
$GPS2,200714,182235,4726.431,-12222.551,13,1.6,29,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.288,0.013
$KALMAN_X,-13431.6,-112.3,135.9,11505.0,194.2
$KALMAN_Y,15412.7,37.6,-213.1,-11731.6,-176.5
$MHEAD_RNG_PITCHd_Wd,172.3,170,-26.4,-16.667,-30.00,1390
$D_GRID,171
$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,18,begin dive
$GC,21,-1.75,-161.4,92,1911,529,758,0.0,0.0,0,154,0.00,0.00,-129.88,0.000,16386,0.000,0.000,92,1912,2918,2953,2884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,159,-1.77,-180.8,92,1912,2953,2885,3.7,-2.6,13,192,8.60,2.33,-16.25,0.000,18692,0.264,0.073,2021,3323,3601,3675,3528,0,0,0,0,0,0,25.32,25.61,26.65
$GC,422,-1.77,-180.8,2020,3323,3675,3531,65.8,-20.6,64,428,0.00,2.22,0.00,0.000,1030,0.000,0.046,2021,1922,3603,3675,3531,0,0,0,0,0,0,28.83,26.21,28.83
$GC,610,-1.68,-180.8,2021,1923,3674,3531,104.9,-14.9,83,616,0.10,2.28,0.00,0.000,2308,0.209,0.053,2043,3326,3603,3675,3531,0,0,0,0,0,0,26.28,26.15,28.83
$STATE,792,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,792,begin apogee
$GC,802,-0.47,0.0,2043,1984,3673,3531,137.3,-16.6,118,951,0.82,0.00,141.65,0.535,10246,0.139,0.000,2302,1984,2858,2773,2944,0,0,0,0,0,0,25.73,28.83,24.54
$STATE,952,end apogee,CONTROL_FINISHED_OK
$STATE,953,begin climb
$GC,956,1.77,180.8,2302,1984,2769,2943,147.4,0.0,133,1114,1.48,2.40,145.55,0.530,10500,0.090,0.051,2799,3405,2119,1966,2273,0,0,0,0,0,0,25.31,25.15,24.39
$GC,1143,1.77,180.8,2798,3406,1965,2266,129.3,17.4,157,1148,0.00,2.30,0.00,0.000,1030,0.000,0.044,2809,2006,2115,1965,2265,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1337,1.77,180.8,2809,2006,1965,2260,95.9,17.5,177,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2006,2112,1965,2260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1518,1.77,180.8,2809,2006,1964,2258,66.0,16.9,195,1523,0.00,2.25,0.00,0.000,516,0.000,0.054,2818,587,2111,1965,2258,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1567,1.79,198.9,2818,587,1965,2257,58.2,15.3,204,1588,0.00,2.22,13.82,0.480,9222,0.000,0.041,2818,2004,2048,1901,2196,0,0,0,0,0,0,28.83,26.12,25.10
$GC,1779,1.82,221.1,2818,2004,1900,2193,27.1,15.0,227,1800,0.00,2.28,14.82,0.467,8452,0.000,0.053,2818,3403,1956,1807,2106,0,0,0,0,0,0,28.83,26.03,25.12
$GC,1879,1.91,231.6,2818,3403,1807,2105,12.0,15.9,246,1888,0.00,2.25,3.97,0.065,9222,0.000,0.044,2828,1985,1918,1767,2069,0,0,0,0,0,0,28.83,26.10,25.99
$STATE,1944,end climb,SURFACE_DEPTH_REACHED
$STATE,1944,begin surface coast
$FINISH,0.7,1.021027
$STATE,1970,end surface coast,CONTROL_FINISHED_OK
$STATE,1970,begin surface
$SM_CCo,1990,27.85,0.048,0,0,1639,300.00
$SM_GC,1.28,7.38,0.10,27.85,0.047,0.107,0.048,89,1914,1639,-10.61,0.85,300.00,0,0,0,0,0,0,26.05,26.34,26.13
$IRIDIUM_FIX,4710.21,-12213.14,230921,040536
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.47
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,120.7,26.0
$SC_FREEKB,3947936
$24V_AH,24.39,12.569
$10V_AH,9.50,7.439
$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,18.375,22.800,319.825,27.850,0.000,0.000,0.000,156.100,2.500,0.000,30.246,534.008,613.039,452.705,573.601,200.529,33.277,872.538,0.000,395.101,0.000,5.486,0.000
$DEVICE_MAMPS,263.925,107.100,535.500,48.195,0.000,0.000,0.000,112.455,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1974.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,25.404,0.000,0.000,0.000
$MEM,203708
$DATA_FILE_SIZE,6818,255
$CAP_FILE_SIZE,44559,0
$CFSIZE,260034560,244367360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2827.47,0x239dd2,7,5
$CURRENT,0.079,257.5,1
$GPS,200714,185835,4726.250,-12222.871,14,1.2,30,18.1