version: 66.12
glider: 124
mission: 17
dive: 217
start: 7 21 114 18 17 34
data:
$ID,124
$MISSION,17
$DIVE,217
$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,-309437.94
$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,27
$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,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
$GPS1,210714,181037,4726.154,-12222.455,11,1.2,11,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-68.1
$GPS2,210714,181630,4726.134,-12222.351,11,1.3,16,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.154,0.262
$KALMAN_X,-13786.4,-167.9,-235.4,12535.0,230.8
$KALMAN_Y,19806.2,1438.2,1311.0,-19594.0,-426.6
$MHEAD_RNG_PITCHd_Wd,306.7,488,-25.0,-16.667,-28.75,1541
$D_GRID,173
$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,-1.69,-180.8,91,1915,1533,1756,0.0,0.0,0,94,0.00,0.00,-70.28,0.000,16386,0.000,0.000,91,1915,2799,2823,2776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.69,-180.8,91,1915,2823,2776,3.0,-1.7,7,141,8.57,2.25,-25.92,0.000,18948,0.256,0.069,2040,504,3601,3672,3530,0,0,0,0,0,0,25.21,25.99,26.60
$GC,243,-1.57,-180.8,2040,504,3673,3531,29.7,-22.8,34,250,0.12,2.25,0.00,0.000,3078,0.186,0.044,2071,1919,3602,3673,3531,0,0,0,0,0,0,25.78,26.10,28.83
$GC,429,-1.57,-180.8,2071,1919,3672,3531,65.9,-19.1,53,435,0.00,2.22,0.00,0.000,260,0.000,0.055,2070,3337,3601,3672,3531,0,0,0,0,0,0,28.83,26.08,28.83
$GC,464,-1.57,-180.8,2070,3338,3672,3531,72.2,-18.2,59,469,0.00,2.25,0.00,0.000,1030,0.000,0.047,2070,1923,3601,3672,3531,0,0,0,0,0,0,28.83,26.18,28.83
$GC,658,-1.57,-180.8,2070,1923,3671,3531,108.0,-16.9,79,663,0.00,2.20,0.00,0.000,516,0.000,0.055,2070,508,3601,3671,3531,0,0,0,0,0,0,28.83,26.16,28.83
$GC,702,-1.57,-180.8,2070,508,3671,3531,115.7,-17.2,87,708,0.00,2.22,0.00,0.000,1030,0.000,0.043,2070,1924,3601,3671,3531,0,0,0,0,0,0,28.83,26.26,28.83
$GC,897,-1.57,-180.8,2070,1924,3670,3531,148.3,-16.6,107,902,0.00,2.20,0.00,0.000,260,0.000,0.055,2070,3338,3601,3671,3531,0,0,0,0,0,0,28.83,26.17,28.83
$GC,946,-1.57,-180.8,2070,3338,3670,3531,156.4,-16.6,116,952,0.00,2.25,0.00,0.000,1030,0.000,0.046,2070,1918,3601,3670,3532,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,1050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1050,begin apogee
$GC,1059,-0.47,0.0,2068,2009,3670,3532,173.9,-16.1,127,1213,0.75,0.00,144.25,0.581,10246,0.136,0.000,2306,2010,2858,2766,2951,0,0,0,0,0,0,25.70,28.83,24.43
$STATE,1214,end apogee,CONTROL_FINISHED_OK
$STATE,1215,begin climb
$GC,1218,1.69,180.8,2306,2010,2764,2951,182.9,0.0,143,1372,1.40,0.00,145.10,0.564,10246,0.089,0.000,2778,2010,2121,1944,2299,0,0,0,0,0,0,25.28,28.83,24.34
$GC,1555,1.75,180.8,2778,2010,1946,2296,142.3,16.7,177,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2010,2120,1946,2295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1742,1.86,215.9,2778,2010,1947,2293,113.6,14.3,196,1780,0.12,2.28,29.17,0.528,10500,0.090,0.052,2839,3407,1977,1807,2148,0,0,0,0,0,0,26.24,25.82,24.91
$GC,1815,1.78,215.9,2839,3407,1809,2148,100.2,21.4,209,1824,0.20,2.28,0.00,0.000,5126,0.148,0.045,2795,2001,1979,1810,2148,0,0,0,0,0,0,25.61,25.88,28.83
$GC,2003,1.86,226.7,2795,2001,1813,2148,68.5,16.0,228,2019,0.00,2.25,10.50,0.493,8708,0.000,0.054,2798,582,1935,1767,2103,0,0,0,0,0,0,28.83,25.98,24.96
$GC,2085,1.97,255.1,2798,582,1767,2102,56.7,14.8,243,2117,0.15,2.25,24.17,0.514,11270,0.078,0.042,2862,2005,1818,1651,1986,0,0,0,0,0,0,26.08,26.07,24.92
$GC,2307,1.97,255.1,2861,2005,1651,1982,16.3,18.5,268,2313,0.10,2.20,0.00,0.000,4356,0.166,0.050,2838,3404,1816,1651,1982,0,0,0,0,0,0,26.11,25.99,28.83
$GC,2372,1.99,271.8,2840,3404,1653,1980,3.7,15.6,280,2379,0.00,2.25,1.62,0.050,9218,0.000,0.045,2846,1998,1798,1635,1961,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,2380,end climb,SURFACE_DEPTH_REACHED
$STATE,2380,begin surface coast
$FINISH,1.2,1.021485
$STATE,2386,end surface coast,CONTROL_FINISHED_OK
$STATE,2386,begin surface
$SM_CCo,2407,15.82,0.050,0,0,1638,300.00
$SM_GC,2.61,7.45,0.12,15.82,0.047,0.099,0.050,91,1914,1638,-10.61,0.74,300.00,0,0,0,0,0,0,25.98,26.27,26.08
$IRIDIUM_FIX,4703.87,-12216.82,240921,035925
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.04
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.40
$XPDR_PINGS,13
$SC_FREEKB,3936416
$24V_AH,24.34,14.440
$10V_AH,9.15,8.550
$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,18.875,31.675,354.825,15.825,0.000,0.000,0.000,179.025,4.750,0.000,17.215,617.135,874.018,445.714,632.514,222.047,33.279,919.305,0.000,442.053,0.000,10.510,0.000
$DEVICE_MAMPS,256.275,99.450,581.400,50.490,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2395.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.222,0.000,0.000,0.000
$MEM,203688
$DATA_FILE_SIZE,10129,282
$CAP_FILE_SIZE,54639,0
$CFSIZE,260034560,243302400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2842.28,0x239dd2,7,5
$CURRENT,0.077,123.9,1
$GPS,210714,185915,4726.359,-12222.557,12,2.7,32,18.1