version: 66.12
glider: 124
mission: 17
dive: 225
start: 7 22 114 5 9 21
data:
$ID,124
$MISSION,17
$DIVE,225
$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,4
$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,-310284.84
$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,25
$R_STBD_OVSHOOT,34
$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,48
$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
$GPS1,220714,050148,4726.187,-12222.651,12,1.9,29,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-68.2
$GPS2,220714,050815,4726.218,-12222.642,11,3.8,31,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,600.000
$KALMAN_CONTROL,-0.021,0.288
$KALMAN_X,-14590.4,-162.0,4.7,12735.7,90.2
$KALMAN_Y,19452.6,212.8,207.3,-16759.8,-115.5
$MHEAD_RNG_PITCHd_Wd,355.3,241,-26.4,-16.667,-30.00,1390
$D_GRID,179
$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,-161.4,86,1924,1537,1744,0.0,0.0,0,93,0.00,0.00,-69.88,0.000,16386,0.000,0.000,86,1924,2816,2842,2790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.77,-180.8,86,1924,2842,2791,3.0,-1.9,7,136,8.55,2.33,-23.58,0.000,18948,0.258,0.067,2023,498,3601,3675,3527,0,0,0,0,0,0,25.29,26.03,26.64
$GC,367,-1.65,-180.8,2023,498,3675,3528,65.5,-23.2,59,373,0.12,2.25,0.00,0.000,3078,0.193,0.044,2053,1927,3601,3675,3528,0,0,0,0,0,0,25.85,26.21,28.83
$GC,562,-1.65,-180.8,2052,1928,3674,3529,103.8,-18.5,79,568,0.00,2.28,0.00,0.000,516,0.000,0.054,2053,506,3601,3674,3528,0,0,0,0,0,0,28.83,26.17,28.83
$GC,611,-1.65,-180.8,2052,506,3674,3529,113.6,-20.1,88,617,0.00,2.25,0.00,0.000,1030,0.000,0.044,2053,1920,3601,3673,3529,0,0,0,0,0,0,28.83,26.25,28.83
$GC,797,-1.65,-180.8,2053,1920,3673,3528,147.8,-18.0,107,802,0.00,2.20,0.00,0.000,260,0.000,0.055,2053,3337,3600,3673,3528,0,0,0,0,0,0,28.83,26.18,28.83
$GC,938,-1.65,-180.8,2053,3337,3672,3528,171.9,-16.6,134,945,0.00,2.28,0.00,0.000,1030,0.000,0.046,2053,1913,3600,3672,3528,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,980,begin apogee
$GC,989,-0.47,0.0,2052,2008,3672,3528,179.6,-16.7,139,1137,0.80,0.00,141.07,0.587,10246,0.140,0.000,2305,2009,2859,2773,2945,0,0,0,0,0,0,25.67,28.83,24.46
$STATE,1139,end apogee,CONTROL_FINISHED_OK
$STATE,1139,begin climb
$GC,1142,1.77,180.8,2304,2009,2769,2945,191.7,0.0,154,1296,1.42,2.30,142.73,0.567,10500,0.081,0.053,2798,3406,2119,1955,2284,0,0,0,0,0,0,25.34,25.18,24.37
$GC,1530,1.77,180.8,2797,3406,1961,2273,143.8,24.6,229,1537,0.00,2.28,0.00,0.000,1030,0.000,0.044,2808,1984,2117,1962,2273,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1716,1.80,201.9,2808,1984,1962,2273,109.5,15.1,248,1736,0.00,0.00,17.38,0.520,8198,0.000,0.000,2808,1984,2037,1881,2194,0,0,0,0,0,0,28.83,28.83,25.01
$GC,1918,1.89,224.7,2808,1984,1878,2187,78.7,15.0,268,1943,0.00,2.33,19.17,0.509,8452,0.000,0.052,2808,3411,1943,1787,2100,0,0,0,0,0,0,28.83,26.00,25.05
$GC,1995,1.89,224.7,2808,3411,1789,2099,65.4,18.5,282,2001,0.00,2.28,0.00,0.000,1030,0.000,0.045,2818,1989,1944,1789,2099,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2191,2.00,253.9,2817,1990,1789,2099,34.6,14.5,302,2219,0.10,0.00,23.95,0.493,10246,0.099,0.000,2864,1989,1823,1669,1977,0,0,0,0,0,0,26.41,28.83,25.10
$STATE,2377,end climb,SURFACE_DEPTH_REACHED
$STATE,2377,begin surface coast
$FINISH,0.7,1.008874
$STATE,2388,end surface coast,CONTROL_FINISHED_OK
$STATE,2388,begin surface
$SM_CCo,2409,17.92,0.049,0,0,1638,300.00
$SM_GC,2.08,7.43,0.10,17.92,0.044,0.111,0.049,87,1920,1638,-10.60,0.96,300.00,0,0,0,0,0,0,26.08,26.34,26.11
$IRIDIUM_FIX,4707.04,-12222.91,240921,144316
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.04
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,19.50
$XPDR_PINGS,13
$SC_FREEKB,3933344
$24V_AH,24.37,15.126
$10V_AH,9.85,9.016
$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,18.425,23.050,344.300,17.925,0.000,0.000,0.000,193.825,4.750,0.000,32.129,662.621,827.105,402.818,721.700,216.947,33.266,914.836,0.000,497.464,0.000,10.517,0.000
$DEVICE_MAMPS,257.805,110.925,586.755,48.960,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2399.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.947,0.000,0.000,0.000
$MEM,203732
$DATA_FILE_SIZE,10131,322
$CAP_FILE_SIZE,52221,0
$CFSIZE,260034560,242995200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3018.69,0x239dd2,7,5
$CURRENT,0.016,160.9,1
$GPS,220714,055105,4726.508,-12222.626,15,1.1,31,18.1