version: 66.12
glider: 124
mission: 17
dive: 126
start: 7 18 114 18 3 51
data:
$ID,124
$MISSION,17
$DIVE,126
$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,-309212
$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,29
$R_STBD_OVSHOOT,27
$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
$GPS1,180714,175639,4726.262,-12222.627,10,3.5,30,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-67.4
$GPS2,180714,180245,4726.268,-12222.656,12,3.9,32,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.222,0.185
$KALMAN_X,-10883.0,-51.4,82.3,8829.5,-195.9
$KALMAN_Y,12169.3,43.6,-176.1,-8835.0,-87.9
$MHEAD_RNG_PITCHd_Wd,37.0,163,-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,-161.4,90,1915,1497,1743,0.0,0.0,0,103,0.00,0.00,-79.93,0.000,16386,0.000,0.000,90,1915,2935,2966,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.77,-180.8,89,1915,2966,2905,3.3,-1.9,8,142,8.50,2.30,-18.77,0.000,18948,0.259,0.069,2021,507,3601,3669,3533,0,0,0,0,0,0,25.33,26.00,26.58
$GC,373,-1.68,-180.8,2020,507,3669,3534,67.2,-22.7,59,380,0.10,2.25,0.00,0.000,3078,0.213,0.046,2043,1920,3601,3669,3534,0,0,0,0,0,0,25.86,26.13,28.83
$GC,559,-1.68,-180.8,2043,1920,3669,3534,103.7,-19.6,78,565,0.00,2.20,0.00,0.000,260,0.000,0.056,2043,3327,3601,3669,3534,0,0,0,0,0,0,28.83,26.09,28.83
$GC,598,-1.68,-180.8,2042,3327,3670,3534,111.5,-19.3,85,605,0.00,2.25,0.00,0.000,1030,0.000,0.047,2043,1918,3601,3669,3534,0,0,0,0,0,0,28.83,26.20,28.83
$GC,785,-1.68,-180.8,2043,1918,3668,3534,147.8,-18.6,104,790,0.00,2.28,0.00,0.000,260,0.000,0.056,2043,3327,3601,3669,3534,0,0,0,0,0,0,28.83,26.11,28.83
$GC,853,-1.68,-180.8,2043,3327,3669,3534,161.7,-19.5,117,861,0.00,2.25,0.00,0.000,1030,0.000,0.047,2043,1916,3601,3669,3534,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,946,begin apogee
$GC,955,-0.47,0.0,2042,2008,3668,3533,180.2,-19.3,127,1110,0.85,0.00,144.07,0.583,10246,0.145,0.000,2305,2009,2858,2754,2962,0,0,0,0,0,0,25.62,28.83,24.45
$STATE,1112,end apogee,CONTROL_FINISHED_OK
$STATE,1112,begin climb
$GC,1115,1.77,180.8,2305,2009,2753,2961,187.0,0.0,143,1272,1.42,2.42,146.25,0.558,10756,0.079,0.053,2804,578,2119,1938,2301,0,0,0,0,0,0,25.28,25.07,24.34
$GC,1387,1.77,180.8,2804,578,1940,2296,156.9,16.7,195,1392,0.00,2.30,0.00,0.000,1030,0.000,0.044,2804,2000,2118,1940,2296,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1581,1.79,193.7,2803,2000,1942,2292,126.5,15.7,215,1597,0.00,2.33,10.73,0.503,8452,0.000,0.055,2804,3411,2069,1896,2242,0,0,0,0,0,0,28.83,25.88,24.96
$GC,1679,1.79,200.5,2804,3411,1897,2238,110.1,16.2,233,1692,0.00,2.30,6.62,0.475,9222,0.000,0.047,2814,1983,2041,1870,2213,0,0,0,0,0,0,28.83,25.96,24.96
$GC,1871,1.82,218.9,2814,1983,1870,2208,78.1,15.3,253,1893,0.00,2.40,16.12,0.506,8452,0.000,0.053,2814,3408,1966,1796,2136,0,0,0,0,0,0,28.83,25.95,25.06
$GC,1911,1.82,224.7,2814,3408,1797,2133,71.7,16.2,260,1923,0.00,2.28,4.53,0.434,9222,0.000,0.046,2824,1999,1947,1779,2115,0,0,0,0,0,0,28.83,25.96,24.84
$GC,2113,1.90,237.3,2823,1999,1781,2114,38.6,15.7,281,2135,0.00,2.35,12.38,0.487,8452,0.000,0.053,2823,3410,1892,1726,2059,0,0,0,0,0,0,28.83,26.00,25.09
$GC,2159,1.97,243.0,2824,3410,1730,2059,31.1,16.2,289,2171,0.00,2.28,2.85,0.300,9222,0.000,0.046,2834,1991,1872,1705,2039,0,0,0,0,0,0,28.83,26.02,24.80
$STATE,2327,end climb,SURFACE_DEPTH_REACHED
$STATE,2327,begin surface coast
$FINISH,0.8,1.021471
$STATE,2338,end surface coast,CONTROL_FINISHED_OK
$STATE,2338,begin surface
$SM_CCo,2359,23.27,0.049,0,0,1639,300.00
$SM_GC,1.37,7.40,0.10,23.27,0.047,0.113,0.049,90,1920,1639,-10.60,0.99,300.00,0,0,0,0,0,0,26.06,26.31,26.11
$IRIDIUM_FIX,4713.38,-12223.63,210921,034947
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.27
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,19.40
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,140.3,56.5
$SC_FREEKB,3971360
$24V_AH,24.34,8.734
$10V_AH,9.69,5.223
$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,18.275,32.475,343.550,23.275,0.000,0.000,0.000,182.925,3.250,0.000,32.983,628.395,809.581,426.474,691.357,212.122,33.275,927.969,0.000,477.375,0.000,11.635,0.000
$DEVICE_MAMPS,258.570,113.220,582.930,48.960,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2347.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.895,0.000,0.000,0.000
$MEM,203724
$DATA_FILE_SIZE,10104,308
$CAP_FILE_SIZE,53348,0
$CFSIZE,260034560,246530048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2578.57,0x239dd2,7,5
$CURRENT,0.207,286.1,1
$GPS,180714,184505,4726.544,-12222.708,41,1.5,46,18.1