version: 66.12
glider: 124
mission: 17
dive: 72
start: 7 16 114 23 5 19
data:
$ID,124
$MISSION,17
$DIVE,72
$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,-307943.19
$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,30
$R_STBD_OVSHOOT,23
$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
$GPS1,160714,225821,4725.832,-12222.428,11,2.2,31,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-67.7
$GPS2,160714,230415,4725.838,-12222.417,17,2.7,37,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.013,0.303
$KALMAN_X,-8342.6,0.5,-342.7,6952.7,-60.7
$KALMAN_Y,8288.7,156.1,405.3,-6440.3,-241.2
$MHEAD_RNG_PITCHd_Wd,326.1,958,-25.0,-16.667,-28.75,1541
$D_GRID,170
$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,-180.8,93,1918,1530,1749,0.0,0.0,0,103,0.00,0.00,-80.25,0.000,16386,0.000,0.000,94,1919,2927,2954,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,94,1919,2954,2902,3.1,-1.6,8,146,8.50,2.28,-20.95,0.000,18948,0.257,0.070,2037,512,3601,3667,3536,0,0,1,0,0,0,25.37,25.56,26.54
$GC,376,-1.59,-180.8,2037,512,3666,3536,61.4,-19.2,60,382,0.10,2.25,0.00,0.000,3078,0.203,0.047,2060,1928,3602,3667,3537,0,0,0,0,0,0,25.85,26.10,28.83
$GC,572,-1.59,-180.8,2059,1928,3667,3538,95.6,-16.6,80,577,0.00,2.30,0.00,0.000,516,0.000,0.059,2060,513,3602,3667,3537,0,0,0,0,0,0,28.83,26.07,28.83
$GC,672,-1.59,-180.8,2060,513,3667,3538,113.7,-18.4,99,679,0.00,2.25,0.00,0.000,1030,0.000,0.047,2060,1931,3602,3667,3538,0,0,0,0,0,0,28.83,26.17,28.83
$GC,858,-1.59,-180.8,2060,1931,3667,3538,145.2,-16.6,118,864,0.00,2.20,0.00,0.000,260,0.000,0.057,2060,3330,3602,3667,3538,0,0,0,0,0,0,28.83,26.09,28.83
$GC,937,-1.59,-180.8,2059,3330,3667,3538,158.1,-16.0,133,945,0.00,2.25,0.00,0.000,1030,0.000,0.048,2060,1919,3602,3667,3538,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,1021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1021,begin apogee
$GC,1029,-0.47,0.0,2060,2007,3666,3538,171.6,-15.2,142,1185,0.77,0.00,144.62,0.571,10246,0.138,0.000,2301,2007,2858,2752,2964,0,0,0,0,0,0,25.66,28.83,24.49
$STATE,1187,end apogee,CONTROL_FINISHED_OK
$STATE,1187,begin climb
$GC,1190,1.69,180.8,2300,2008,2750,2963,180.5,0.0,158,1346,1.42,2.33,145.07,0.551,10500,0.090,0.054,2776,3409,2119,1940,2299,0,0,0,0,0,0,25.25,25.04,24.37
$GC,1374,1.69,180.8,2775,3408,1941,2294,163.0,17.6,193,1382,0.00,2.35,0.00,0.000,1030,0.000,0.047,2785,1998,2117,1941,2294,0,0,0,0,0,0,28.83,25.32,28.83
$GC,1561,1.70,190.3,2787,1998,1941,2287,132.1,16.0,212,1570,0.00,0.00,7.85,0.477,8198,0.000,0.000,2785,1998,2084,1911,2257,0,0,0,0,0,0,28.83,28.83,24.89
$GC,1750,1.73,214.3,2785,1998,1910,2251,100.8,15.1,231,1778,0.00,0.00,20.35,0.511,8454,0.000,0.000,2784,1998,1986,1816,2156,0,0,0,0,0,0,28.83,28.83,25.03
$GC,1960,1.73,214.3,2785,1998,1817,2152,66.1,17.2,253,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1998,1984,1817,2152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2142,1.83,240.7,2785,1998,1817,2150,37.9,14.9,271,2173,0.10,2.28,23.30,0.489,10756,0.103,0.059,2845,581,1876,1710,2043,0,0,0,0,0,0,26.34,25.93,25.20
$GC,2210,1.83,240.7,2845,581,1711,2042,27.7,17.5,283,2216,0.15,2.28,0.00,0.000,5126,0.145,0.045,2805,2004,1876,1711,2042,0,0,0,0,0,0,25.76,25.98,28.83
$STATE,2361,end climb,SURFACE_DEPTH_REACHED
$STATE,2361,begin surface coast
$FINISH,0.8,0.999892
$STATE,2382,end surface coast,CONTROL_FINISHED_OK
$STATE,2383,begin surface
$SM_CCo,2404,23.52,0.048,0,0,1638,300.00
$SM_GC,1.22,7.35,0.17,23.52,0.050,0.078,0.048,95,1914,1638,-10.58,0.76,300.00,0,0,1,0,0,0,25.97,26.20,26.08
$IRIDIUM_FIX,4707.04,-12222.91,190921,084630
$TT8_MAMPS,0.029211,0.029211
$HUMID,66.81
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,121.4,68.9
$SC_FREEKB,3992096
$24V_AH,24.37,5.396
$10V_AH,9.37,3.263
$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,18.400,23.100,341.200,23.525,0.000,0.000,0.000,168.650,3.000,0.000,37.808,625.962,879.474,420.633,667.408,204.841,33.273,897.673,0.000,470.216,0.000,5.600,0.000
$DEVICE_MAMPS,257.040,78.030,571.455,48.195,0.000,0.000,0.000,117.810,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2390.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.438,0.000,0.000,0.000
$MEM,203728
$DATA_FILE_SIZE,10140,301
$CAP_FILE_SIZE,51662,0
$CFSIZE,260034560,248442880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$INTR,0,2872.76,0x239dd2,7,5
$CURRENT,0.087,145.9,1
$GPS,160714,234719,4725.994,-12222.534,34,1.0,48,18.1