version: 66.12
glider: 124
mission: 17
dive: 41
start: 7 15 114 22 29 21
data:
$ID,124
$MISSION,17
$DIVE,41
$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,-307904.44
$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,39
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,300
$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
$GPS1,150714,222221,4726.271,-12222.597,8,2.3,28,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-66.2
$GPS2,150714,222815,4726.271,-12222.558,12,2.1,32,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,mooring
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.105,0.269
$KALMAN_X,-5856.0,-113.6,-345.5,4405.7,92.5
$KALMAN_Y,3511.1,169.5,463.6,-933.8,-203.9
$MHEAD_RNG_PITCHd_Wd,321.0,138,-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,21,-1.75,-161.4,94,1911,1531,1752,0.0,0.0,0,103,0.00,0.00,-80.45,0.000,16386,0.000,0.000,95,1911,2933,2961,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.77,-180.8,94,1911,2961,2907,3.0,-1.4,8,146,8.50,2.25,-21.27,0.000,18948,0.260,0.071,2021,526,3601,3668,3535,0,0,1,0,0,0,25.36,25.58,26.51
$GC,366,-1.77,-180.8,2020,526,3668,3536,58.9,-20.8,58,371,0.00,2.22,0.00,0.000,1030,0.000,0.047,2021,1923,3602,3669,3536,0,0,0,0,0,0,28.83,26.07,28.83
$GC,561,-1.77,-180.8,2020,1924,3669,3537,96.4,-19.1,78,566,0.00,2.22,0.00,0.000,260,0.000,0.058,2021,3336,3604,3669,3539,0,0,0,0,0,0,28.83,26.03,28.83
$GC,657,-1.77,-180.8,2020,3336,3668,3537,112.8,-16.8,96,663,0.00,2.25,0.00,0.000,1030,0.000,0.049,2020,1934,3603,3669,3537,0,0,0,0,0,0,28.83,26.15,28.83
$GC,852,-1.77,-180.8,2021,1933,3668,3537,146.3,-16.2,116,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1934,3602,3668,3536,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1038,begin apogee
$GC,1047,-0.47,0.0,2020,2028,3668,3537,180.5,-19.0,135,1195,0.93,0.00,141.45,0.588,10246,0.151,0.000,2302,2028,2860,2755,2965,0,0,0,0,0,0,25.55,28.83,24.44
$STATE,1196,end apogee,CONTROL_FINISHED_OK
$STATE,1197,begin climb
$GC,1200,1.77,180.8,2302,2028,2753,2964,190.3,0.0,150,1350,1.48,0.00,144.50,0.563,10758,0.090,0.000,2797,2028,2122,1945,2299,0,0,0,0,0,0,25.20,28.83,24.31
$GC,1531,1.77,180.8,2796,2028,1947,2292,144.4,19.3,193,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2028,2119,1947,2291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1711,1.77,180.8,2797,2028,1951,2288,107.7,21.1,211,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2028,2119,1950,2288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1892,1.80,204.4,2796,2031,1950,2283,77.3,14.9,229,1918,0.00,2.22,19.10,0.505,8452,0.000,0.056,2797,3410,2025,1859,2192,0,0,0,0,0,0,28.83,25.93,25.18
$GC,1975,1.81,213.8,2797,3410,1864,2188,65.4,16.0,244,1992,0.00,2.30,9.18,0.474,9222,0.000,0.047,2806,1984,1987,1825,2149,0,0,0,0,0,0,28.83,25.96,25.06
$GC,2172,1.89,232.7,2806,1984,1825,2148,34.0,15.3,265,2193,0.00,2.22,15.45,0.486,8708,0.000,0.057,2815,595,1910,1748,2072,0,0,0,0,0,0,28.83,25.92,25.16
$GC,2289,1.98,234.2,2815,595,1749,2072,15.5,16.6,287,2295,0.10,2.25,0.00,0.000,3078,0.104,0.046,2856,2004,1910,1749,2072,0,0,0,0,0,0,26.00,26.02,28.83
$STATE,2381,end climb,SURFACE_DEPTH_REACHED
$STATE,2381,begin surface coast
$FINISH,0.9,1.005667
$STATE,2403,end surface coast,CONTROL_FINISHED_OK
$STATE,2403,begin surface
$SM_CCo,2424,26.83,0.048,0,0,1638,300.00
$SM_GC,1.50,7.50,0.17,26.83,0.050,0.079,0.048,94,1915,1638,-10.58,0.76,300.00,0,0,1,0,0,0,25.99,26.20,26.08
$IRIDIUM_FIX,4710.21,-12220.22,180921,081341
$TT8_MAMPS,0.028462,0.028462
$HUMID,67.12
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,151.2,52.5
$SC_FREEKB,4004000
$24V_AH,24.31,3.511
$10V_AH,9.68,2.164
$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,18.500,18.300,329.675,26.825,0.000,0.000,0.000,175.850,5.000,0.000,33.484,635.662,904.806,408.505,670.898,204.659,33.268,883.057,0.000,460.239,0.000,13.214,0.000
$DEVICE_MAMPS,260.100,80.325,587.520,48.195,0.000,0.000,0.000,119.340,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2410.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.353,0.000,0.000,0.000
$MEM,203948
$DATA_FILE_SIZE,10126,299
$CAP_FILE_SIZE,50781,0
$CFSIZE,260034560,249528320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$INTR,0,2699.63,0x239dd2,7,5
$CURRENT,0.088,126.0,1
$GPS,150714,231127,4726.507,-12222.610,10,2.9,30,18.1