version: 66.12
glider: 124
mission: 17
dive: 238
start: 7 22 114 15 14 7
data:
$ID,124
$MISSION,17
$DIVE,238
$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,-310301.09
$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,28
$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
$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
$GPS1,220714,150729,4726.218,-12222.391,11,2.1,31,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-68.9
$GPS2,220714,151300,4726.211,-12222.406,10,1.5,15,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,600.000
$KALMAN_CONTROL,-0.280,0.070
$KALMAN_X,-15685.2,-195.4,-216.1,14376.1,2.0
$KALMAN_Y,20502.5,-319.0,-158.5,-16926.8,184.9
$MHEAD_RNG_PITCHd_Wd,304.4,335,-26.4,-16.667,-30.00,1390
$D_GRID,177
$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,-161.4,90,1912,1535,1751,0.0,0.0,0,84,0.00,0.00,-60.97,0.000,16386,0.000,0.000,90,1912,2678,2692,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.77,-180.8,90,1912,2693,2665,3.0,-2.0,6,132,8.48,2.40,-28.58,0.000,18692,0.257,0.070,2019,3326,3601,3674,3528,0,0,0,0,0,0,25.22,25.98,26.64
$GC,285,-1.69,-180.8,2018,3326,3675,3531,46.2,-24.3,43,292,0.10,2.25,0.00,0.000,3078,0.203,0.046,2041,1917,3603,3675,3531,0,0,0,0,0,0,25.90,26.16,28.83
$GC,471,-1.69,-180.8,2040,1917,3672,3531,85.9,-20.1,62,477,0.00,2.22,0.00,0.000,516,0.000,0.054,2041,500,3601,3672,3531,0,0,0,0,0,0,28.83,26.13,28.83
$GC,505,-1.69,-180.8,2041,500,3671,3532,93.3,-21.4,68,511,0.00,2.25,0.00,0.000,1030,0.000,0.046,2041,1919,3601,3671,3531,0,0,0,0,0,0,28.83,26.21,28.83
$GC,700,-1.69,-180.8,2041,1918,3671,3531,131.5,-18.4,88,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,1919,3601,3671,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,890,-1.69,-180.8,2041,1919,3670,3532,169.1,-19.4,107,896,0.00,2.22,0.00,0.000,260,0.000,0.057,2041,3341,3600,3670,3531,0,0,0,0,0,0,28.83,26.18,28.83
$GC,915,-1.69,-180.8,2041,3340,3670,3531,173.6,-17.9,111,920,0.00,2.28,0.00,0.000,1030,0.000,0.047,2041,1912,3600,3670,3531,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,936,begin apogee
$GC,945,-0.47,0.0,2041,2008,3670,3531,177.3,-16.1,114,1101,0.85,0.00,143.23,0.575,10246,0.147,0.000,2304,2008,2858,2766,2950,0,0,0,0,0,0,25.64,28.83,24.43
$STATE,1102,end apogee,CONTROL_FINISHED_OK
$STATE,1102,begin climb
$GC,1106,1.77,180.8,2304,2007,2765,2950,185.3,0.0,130,1261,1.48,2.30,144.75,0.549,10500,0.095,0.050,2798,3411,2119,1947,2292,0,0,0,0,0,0,25.29,25.18,24.35
$GC,1319,1.77,180.8,2798,3412,1950,2291,164.6,16.7,170,1325,0.00,2.33,0.00,0.000,1030,0.000,0.044,2809,1983,2121,1951,2291,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1514,1.77,180.8,2808,1983,1952,2290,128.6,18.1,190,1520,0.00,2.20,0.00,0.000,516,0.000,0.055,2817,591,2121,1952,2290,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1563,1.77,180.8,2817,591,1952,2289,119.5,17.8,199,1570,0.10,2.22,0.00,0.000,5126,0.155,0.041,2794,2001,2120,1952,2289,0,0,0,0,0,0,25.86,26.03,28.83
$GC,1750,1.88,207.2,2793,2002,1952,2287,90.5,14.7,218,1782,0.10,2.25,21.92,0.501,10500,0.101,0.051,2839,3402,2012,1847,2178,0,0,0,0,0,0,26.39,25.98,25.03
$GC,1810,1.88,207.2,2839,3402,1850,2177,79.6,18.5,229,1819,0.12,2.25,0.00,0.000,5126,0.160,0.044,2818,1991,2013,1850,2177,0,0,0,0,0,0,25.80,26.01,28.83
$GC,1998,1.96,218.8,2818,1991,1853,2177,48.9,15.8,248,2015,0.00,2.20,11.12,0.472,8708,0.000,0.054,2828,596,1967,1804,2130,0,0,0,0,0,0,28.83,26.06,25.02
$GC,2058,1.99,244.9,2828,595,1805,2129,39.8,14.7,259,2085,0.00,2.22,22.45,0.492,9222,0.000,0.042,2828,2001,1862,1696,2028,0,0,0,0,0,0,28.83,26.12,24.98
$GC,2266,2.14,273.4,2827,2001,1694,2022,7.3,14.6,282,2283,0.12,0.00,11.12,0.055,10502,0.091,0.000,2888,2001,1746,1588,1905,0,0,0,0,0,0,26.27,28.83,26.04
$STATE,2301,end climb,SURFACE_DEPTH_REACHED
$STATE,2301,begin surface coast
$FINISH,0.9,0.999838
$STATE,2322,end surface coast,CONTROL_FINISHED_OK
$STATE,2322,begin surface
$SM_CCo,2346,10.60,0.050,0,0,1638,300.00
$SM_GC,3.33,7.57,0.17,10.60,0.049,0.076,0.050,91,1924,1638,-10.61,1.07,300.00,0,0,0,0,0,0,25.98,26.27,26.09
$IRIDIUM_FIX,4710.21,-12224.61,250921,005631
$TT8_MAMPS,0.028462,0.028462
$HUMID,64.80
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,10
$SC_FREEKB,3928352
$24V_AH,24.35,15.925
$10V_AH,9.70,9.484
$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,18.925,31.975,354.600,10.600,0.000,0.000,0.000,157.325,4.000,0.000,16.128,604.610,845.069,414.006,623.368,220.275,33.286,886.078,0.000,447.987,0.000,13.456,0.000
$DEVICE_MAMPS,257.040,76.500,575.280,49.725,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2334.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.158,0.000,0.000,0.000
$MEM,203756
$DATA_FILE_SIZE,10135,289
$CAP_FILE_SIZE,54256,0
$CFSIZE,260034560,242528256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2790.33,0x239dd2,7,5
$CURRENT,0.054,256.0,1
$GPS,220714,155424,4726.462,-12222.801,9,1.6,14,18.1