version: 66.12
glider: 124
mission: 17
dive: 218
start: 7 21 114 19 6 12
data:
$ID,124
$MISSION,17
$DIVE,218
$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,-309439.19
$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,29
$R_STBD_OVSHOOT,33
$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
$GPS1,210714,185915,4726.359,-12222.557,12,2.7,32,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-68.5
$GPS2,210714,190505,4726.351,-12222.529,14,1.6,30,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.279,0.072
$KALMAN_X,-13763.6,-137.2,-168.1,12198.6,295.3
$KALMAN_Y,20108.3,1333.0,925.2,-19017.1,-105.7
$MHEAD_RNG_PITCHd_Wd,251.9,76,-26.4,-16.667,-30.00,1390
$D_GRID,183
$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,-161.4,91,1913,1534,1757,0.0,0.0,0,94,0.00,0.00,-70.53,0.000,16386,0.000,0.000,91,1914,2823,2850,2797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.77,-180.8,91,1914,2849,2798,3.2,-1.7,7,136,8.55,2.40,-23.10,0.000,18692,0.259,0.070,2021,3322,3601,3673,3530,0,0,0,0,0,0,25.25,25.53,26.60
$GC,351,-1.77,-180.8,2021,3323,3673,3533,57.2,-21.6,56,358,0.00,2.25,0.00,0.000,1030,0.000,0.046,2021,1914,3603,3673,3533,0,0,0,0,0,0,28.83,26.17,28.83
$GC,537,-1.77,-180.8,2021,1914,3671,3533,96.6,-20.7,75,543,0.00,2.20,0.00,0.000,516,0.000,0.055,2021,503,3602,3671,3533,0,0,0,0,0,0,28.83,26.14,28.83
$GC,634,-1.77,-180.8,2021,503,3670,3533,115.8,-19.6,93,640,0.00,2.22,0.00,0.000,1030,0.000,0.044,2021,1913,3602,3671,3533,0,0,0,0,0,0,28.83,26.25,28.83
$GC,830,-1.77,-180.8,2021,1913,3671,3533,153.6,-18.8,113,836,0.00,2.20,0.00,0.000,260,0.000,0.053,2021,3331,3602,3671,3533,0,0,0,0,0,0,28.83,26.18,28.83
$GC,883,-1.77,-180.8,2021,3330,3670,3533,163.3,-18.0,122,889,0.00,2.25,0.00,0.000,1030,0.000,0.045,2021,1914,3602,3671,3533,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,975,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,975,begin apogee
$GC,984,-0.47,0.0,2021,2008,3670,3533,182.3,-20.7,132,1133,0.85,0.00,142.27,0.591,10246,0.110,0.000,2308,2009,2861,2770,2952,0,0,0,0,0,0,25.90,28.83,24.44
$STATE,1134,end apogee,CONTROL_FINISHED_OK
$STATE,1135,begin climb
$GC,1138,1.77,180.8,2308,2009,2767,2951,183.9,0.0,147,1292,1.48,0.00,145.98,0.558,10758,0.103,0.000,2790,2009,2121,1942,2301,0,0,0,0,0,0,25.22,28.83,24.34
$GC,1472,1.97,226.5,2789,2009,1944,2295,157.2,13.3,182,1519,0.12,2.42,37.50,0.541,10756,0.086,0.054,2855,582,1935,1760,2110,0,0,0,0,0,0,26.00,25.53,24.64
$GC,1544,1.97,226.5,2855,581,1762,2110,145.3,17.7,195,1551,0.00,2.30,0.00,0.000,1030,0.000,0.042,2855,2007,1936,1762,2110,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1730,1.97,226.5,2854,2007,1766,2114,110.9,19.6,214,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2007,1938,1767,2110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1910,1.98,234.3,2855,2007,1767,2110,80.3,16.1,232,1926,0.00,2.38,8.35,0.477,8708,0.000,0.054,2861,577,1903,1734,2072,0,0,0,0,0,0,28.83,26.06,24.96
$GC,1981,1.98,234.3,2862,577,1736,2071,67.7,19.3,245,1988,0.00,2.28,0.00,0.000,1030,0.000,0.042,2862,2018,1903,1735,2071,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2167,1.98,234.3,2861,2019,1736,2072,34.9,17.3,264,2173,0.00,2.17,0.00,0.000,260,0.000,0.053,2861,3407,1903,1736,2071,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2318,2.08,320.5,2861,3407,1738,2068,10.4,10.3,293,2359,0.00,2.25,35.30,0.059,9222,0.000,0.044,2869,1984,1554,1379,1730,0,0,0,0,0,0,28.83,26.22,26.16
$STATE,2375,end climb,SURFACE_DEPTH_REACHED
$STATE,2375,begin surface coast
$FINISH,0.9,1.010533
$STATE,2389,end surface coast,CONTROL_FINISHED_OK
$STATE,2389,begin surface
$SM_CCo,2470,0.00,0.000,0,0,1560,319.38
$SM_GC,1.86,7.45,0.10,0.00,0.046,0.109,0.000,92,1916,1560,-10.60,0.82,319.38,0,0,0,0,0,0,26.09,26.45,28.83
$IRIDIUM_FIX,4719.74,-12227.05,240921,044653
$TT8_MAMPS,0.029211,0.029211
$HUMID,65.71
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,19.50
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,160.2,30.4
$SC_FREEKB,3936032
$24V_AH,24.34,14.500
$10V_AH,9.61,8.588
$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,18.450,27.625,369.400,0.000,0.000,0.000,0.000,162.425,4.500,0.000,31.535,639.630,888.210,426.489,663.565,217.273,33.278,894.833,0.000,467.182,0.000,11.842,0.000
$DEVICE_MAMPS,259.335,109.395,590.580,0.000,0.000,0.000,0.000,117.810,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2398.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.135,0.000,0.000,0.000
$MEM,203708
$DATA_FILE_SIZE,10095,304
$CAP_FILE_SIZE,52280,0
$CFSIZE,260034560,243273728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2916.31,0x239dd2,7,5
$CURRENT,0.084,148.2,1
$GPS,210714,194813,4726.255,-12222.880,9,1.3,9,18.1