version: 66.12
glider: 124
mission: 17
dive: 91
start: 7 17 114 14 18 22
data:
$ID,124
$MISSION,17
$DIVE,91
$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,-307966.94
$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,63
$R_STBD_OVSHOOT,29
$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
$GPS1,170714,140914,4726.452,-12222.180,8,3.9,28,18.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-66.1
$GPS2,170714,141715,4726.452,-12222.178,12,4.2,32,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.301,0.041
$KALMAN_X,-8956.4,-10.6,-60.5,7588.5,97.8
$KALMAN_Y,9052.4,166.1,1.5,-5677.5,-217.6
$MHEAD_RNG_PITCHd_Wd,234.0,553,-25.0,-16.667,-28.75,1541
$D_GRID,133
$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,-180.8,91,1894,1531,1748,0.0,0.0,0,103,0.00,0.00,-80.00,0.000,16386,0.000,0.000,91,1894,2925,2952,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,91,1894,2952,2899,3.2,-1.8,8,142,8.52,2.22,-19.65,0.000,18948,0.257,0.073,2036,547,3600,3664,3537,0,0,1,0,0,0,25.36,25.57,26.55
$GC,298,-1.62,-180.8,2036,548,3666,3538,45.1,-22.8,44,304,0.10,2.20,0.00,0.000,3078,0.204,0.046,2059,1932,3602,3666,3538,0,0,0,0,0,0,25.82,26.08,28.83
$GC,493,-1.62,-180.8,2059,1932,3664,3538,82.6,-17.5,64,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,1933,3602,3666,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,674,-1.62,-180.8,2059,1932,3666,3538,113.2,-16.6,82,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,1932,3601,3665,3538,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,790,begin apogee
$GC,801,-0.47,0.0,2059,2006,3666,3538,134.3,-17.2,94,954,0.80,0.00,142.77,0.552,10246,0.138,0.000,2306,2006,2857,2754,2961,0,0,0,0,0,0,25.64,28.83,24.53
$STATE,956,end apogee,CONTROL_FINISHED_OK
$STATE,956,begin climb
$GC,959,1.69,180.8,2306,2005,2753,2961,144.3,0.0,110,1116,1.40,2.35,144.65,0.529,10756,0.089,0.056,2785,618,2120,1943,2298,0,0,1,0,0,0,25.27,25.06,24.41
$GC,1140,1.73,215.6,2785,618,1943,2295,129.5,14.4,144,1176,0.00,2.28,29.10,0.515,9222,0.000,0.044,2785,2000,1980,1802,2158,0,0,0,0,0,0,28.83,25.36,24.51
$GC,1365,1.74,224.3,2785,2001,1802,2150,92.0,16.1,170,1380,0.00,2.33,8.12,0.474,8452,0.000,0.056,2785,3411,1944,1772,2116,0,0,0,0,0,0,28.83,25.76,24.88
$GC,1404,1.76,241.0,2785,3411,1775,2114,85.6,15.6,177,1426,0.00,2.25,14.95,0.499,9222,0.000,0.047,2795,2029,1877,1705,2049,0,0,0,0,0,0,28.83,25.82,24.84
$GC,1616,1.85,260.3,2797,2028,1705,2044,50.2,15.4,200,1638,0.00,2.38,16.75,0.493,8708,0.000,0.057,2803,590,1797,1630,1964,0,0,0,0,0,0,28.83,25.82,24.98
$GC,1663,1.92,260.3,2803,590,1631,1963,42.2,17.3,208,1669,0.10,2.28,0.00,0.000,3078,0.101,0.045,2846,2004,1797,1631,1963,0,0,0,0,0,0,25.88,25.89,28.83
$GC,1858,1.92,260.3,2846,2004,1632,1960,5.4,18.1,228,1863,0.00,2.22,0.00,0.000,260,0.000,0.056,2846,3412,1796,1633,1960,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,1868,end climb,SURFACE_DEPTH_REACHED
$STATE,1869,begin surface coast
$FINISH,0.9,1.021827
$STATE,1880,end surface coast,CONTROL_FINISHED_OK
$STATE,1880,begin surface
$SM_CCo,1903,15.45,0.048,0,0,1639,300.00
$SM_GC,1.93,7.45,2.47,15.45,0.047,0.048,0.048,88,1919,1639,-10.60,0.76,300.00,0,0,0,0,0,0,26.01,26.03,26.05
$IRIDIUM_FIX,4710.21,-12220.22,200921,004527
$TT8_MAMPS,0.029211,0.029211
$HUMID,65.67
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,19.40
$XPDR_PINGS,12
$SC_FREEKB,3984800
$24V_AH,24.41,6.551
$10V_AH,9.78,3.937
$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,18.375,23.075,356.350,15.450,0.000,0.000,0.000,238.675,4.000,0.000,32.946,468.106,714.469,411.763,631.340,192.802,33.280,918.237,0.000,361.500,0.000,9.901,0.000
$DEVICE_MAMPS,257.040,113.220,551.565,48.195,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1888.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.925,0.000,0.000,0.000
$MEM,203700
$DATA_FILE_SIZE,6817,232
$CAP_FILE_SIZE,44832,0
$CFSIZE,260034560,247791616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$INTR,0,3045.83,0x239dd2,7,5
$CURRENT,0.027, 54.0,1
$GPS,170714,145139,4726.369,-12222.506,13,5.9,33,18.1