version: 66.12
glider: 124
mission: 17
dive: 123
start: 7 18 114 15 41 13
data:
$ID,124
$MISSION,17
$DIVE,123
$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,-309208.25
$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,23
$R_STBD_OVSHOOT,33
$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,9.1999998
$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
$GPS1,180714,153407,4726.300,-12222.569,13,1.2,13,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-67.1
$GPS2,180714,154006,4726.315,-12222.532,14,1.4,19,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.245,0.153
$KALMAN_X,-10228.5,-109.6,66.0,8391.5,48.1
$KALMAN_Y,12426.7,127.2,57.9,-9322.0,-21.5
$MHEAD_RNG_PITCHd_Wd,282.7,87,-26.4,-16.667,-30.00,1390
$D_GRID,183
$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,-161.4,88,1916,1528,1760,0.0,0.0,0,103,0.00,0.00,-80.40,0.000,16386,0.000,0.000,88,1916,2983,3020,2947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.77,-180.8,87,1916,3021,2949,3.5,-1.8,8,141,8.52,2.28,-15.43,0.000,18948,0.259,0.075,2021,494,3602,3671,3533,0,0,0,0,0,0,25.31,25.98,26.54
$GC,371,-1.69,-180.8,2020,494,3672,3533,65.7,-22.8,59,377,0.00,2.28,0.00,0.000,1030,0.000,0.047,2021,1919,3602,3672,3533,0,0,0,0,0,0,28.83,26.12,28.83
$GC,558,-1.69,-180.8,2021,1919,3671,3533,103.6,-21.1,78,564,0.10,2.30,0.00,0.000,2564,0.211,0.054,2044,503,3602,3671,3533,0,0,0,0,0,0,26.22,26.09,28.83
$GC,674,-1.69,-180.8,2044,503,3670,3533,125.5,-18.6,100,680,0.00,2.25,0.00,0.000,1030,0.000,0.047,2044,1920,3602,3671,3533,0,0,0,0,0,0,28.83,26.19,28.83
$GC,868,-1.69,-180.8,2044,1920,3671,3533,158.7,-17.7,120,874,0.00,2.22,0.00,0.000,260,0.000,0.057,2043,3340,3602,3671,3533,0,0,0,0,0,0,28.83,26.13,28.83
$GC,904,-1.69,-180.8,2043,3339,3671,3533,165.0,-17.3,126,910,0.00,2.28,0.00,0.000,1030,0.000,0.049,2043,1916,3602,3671,3533,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,1008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1008,begin apogee
$GC,1016,-0.47,0.0,2042,2008,3671,3533,183.6,-18.1,137,1170,0.85,0.00,142.98,0.588,10246,0.142,0.000,2306,2008,2858,2754,2962,0,0,0,0,0,0,25.63,28.83,24.45
$STATE,1171,end apogee,CONTROL_FINISHED_OK
$STATE,1171,begin climb
$GC,1175,1.77,180.8,2306,2008,2753,2962,194.2,0.0,153,1332,1.45,2.40,145.75,0.567,11012,0.089,0.054,2793,3413,2120,1938,2303,0,0,0,0,0,0,25.25,25.06,24.32
$GC,1356,1.80,202.8,2792,3413,1940,2299,178.6,15.0,177,1383,0.00,2.35,18.88,0.535,9222,0.000,0.045,2803,1991,2030,1847,2214,0,0,0,0,0,0,28.83,25.33,24.45
$GC,1572,1.80,205.4,2802,1991,1849,2208,143.0,16.5,201,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1991,2028,1849,2208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1753,1.87,205.7,2801,1991,1851,2206,113.1,16.6,219,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1991,2028,1851,2206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1943,1.97,229.2,2802,1991,1853,2205,82.6,14.9,238,1971,0.12,2.30,21.83,0.514,10756,0.090,0.057,2869,592,1925,1753,2098,0,0,0,0,0,0,26.33,25.96,25.14
$GC,2031,1.97,229.2,2868,592,1764,2098,65.6,19.5,254,2038,0.12,2.25,0.00,0.000,5126,0.155,0.044,2837,2005,1931,1764,2098,0,0,0,0,0,0,25.82,26.04,28.83
$GC,2228,1.98,238.9,2837,2005,1768,2097,32.8,16.0,274,2240,0.00,2.30,6.72,0.446,8452,0.000,0.055,2837,3412,1884,1717,2052,0,0,0,0,0,0,28.83,26.10,25.15
$GC,2342,1.98,238.9,2837,3411,1721,2054,12.9,19.6,295,2348,0.00,2.28,0.00,0.000,1030,0.000,0.047,2845,1985,1886,1721,2051,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,2394,end climb,SURFACE_DEPTH_REACHED
$STATE,2394,begin surface coast
$FINISH,0.9,1.021800
$STATE,2405,end surface coast,CONTROL_FINISHED_OK
$STATE,2405,begin surface
$SM_CCo,2426,24.35,0.049,0,0,1638,300.00
$SM_GC,1.35,7.40,0.10,24.35,0.046,0.113,0.049,91,1920,1638,-10.59,0.85,300.00,0,0,0,0,0,0,26.10,26.36,26.15
$IRIDIUM_FIX,4713.38,-12221.92,210921,012724
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.75
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,19.40
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,180.0,20.4
$SC_FREEKB,3972512
$24V_AH,24.32,8.551
$10V_AH,9.28,5.115
$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,18.575,27.775,336.150,24.350,0.000,0.000,0.000,189.175,4.500,0.000,20.533,651.641,857.946,429.016,676.210,215.083,33.281,918.512,0.000,465.181,0.000,14.986,0.000
$DEVICE_MAMPS,259.335,113.220,588.285,48.960,0.000,0.000,0.000,113.985,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2413.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.595,0.000,0.000,0.000
$MEM,203756
$DATA_FILE_SIZE,10143,302
$CAP_FILE_SIZE,53491,0
$CFSIZE,260034560,246636544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2582.47,0x239dd2,7,5
$CURRENT,0.043,193.4,1
$GPS,180714,162307,4726.340,-12222.995,18,1.3,18,18.1