version: 66.12
glider: 124
mission: 17
dive: 167
start: 7 20 114 2 22 26
data:
$ID,124
$MISSION,17
$DIVE,167
$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,-309263.25
$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,22
$R_STBD_OVSHOOT,30
$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
$GPS1,200714,021506,4725.874,-12222.286,40,1.7,47,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-61.7
$GPS2,200714,022121,4725.885,-12222.289,12,2.4,32,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.156,0.261
$KALMAN_X,-13763.6,37.8,-149.8,12303.9,114.3
$KALMAN_Y,15651.3,46.2,180.2,-13383.4,-76.2
$MHEAD_RNG_PITCHd_Wd,320.8,927,-25.0,-16.667,-28.75,1541
$D_GRID,168
$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,20,-1.69,-180.8,91,1914,1496,1731,0.0,0.0,0,112,0.00,0.00,-89.50,0.000,16386,0.000,0.000,91,1914,3079,3141,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-1.69,-180.8,91,1914,3142,3017,3.7,-2.1,9,146,8.60,2.25,-12.52,0.000,18948,0.259,0.074,2037,502,3601,3674,3528,0,0,0,0,0,0,25.25,25.90,26.61
$GC,362,-1.57,-180.8,2037,502,3675,3530,66.4,-23.4,56,369,0.12,2.25,0.00,0.000,3078,0.194,0.045,2066,1917,3602,3675,3530,0,0,0,0,0,0,25.84,26.16,28.83
$GC,548,-1.57,-180.8,2066,1917,3675,3530,101.5,-18.3,75,554,0.00,2.22,0.00,0.000,260,0.000,0.056,2066,3338,3602,3675,3529,0,0,0,0,0,0,28.83,26.11,28.83
$GC,655,-1.57,-180.8,2066,3338,3674,3530,119.8,-18.2,95,663,0.00,2.28,0.00,0.000,1030,0.000,0.047,2067,1912,3602,3674,3530,0,0,0,0,0,0,28.83,26.24,28.83
$GC,853,-1.57,-180.8,2066,1912,3674,3530,153.5,-16.8,115,858,0.00,2.20,0.00,0.000,516,0.000,0.055,2067,494,3602,3674,3530,0,0,0,0,0,0,28.83,26.18,28.83
$GC,917,-1.57,-180.8,2067,494,3674,3530,165.4,-18.4,127,922,0.00,2.28,0.00,0.000,1030,0.000,0.044,2067,1934,3602,3674,3530,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,938,begin apogee
$GC,947,-0.47,0.0,2066,2006,3674,3530,169.7,-18.0,130,1097,0.75,0.00,143.02,0.576,10246,0.139,0.000,2303,2006,2860,2771,2950,0,0,0,0,0,0,25.69,28.83,24.46
$STATE,1098,end apogee,CONTROL_FINISHED_OK
$STATE,1098,begin climb
$GC,1102,1.69,180.8,2302,2006,2769,2949,178.3,0.0,145,1263,1.40,0.00,148.25,0.550,10246,0.083,0.000,2780,2006,2120,1945,2295,0,0,0,0,0,0,25.28,28.83,24.36
$GC,1442,1.72,206.1,2780,2006,1945,2284,138.5,15.0,180,1468,0.00,2.33,20.92,0.523,8452,0.000,0.051,2780,3413,2017,1845,2190,0,0,0,0,0,0,28.83,25.66,24.77
$GC,1497,1.72,206.1,2780,3413,1847,2187,129.5,17.7,190,1504,0.00,2.30,0.00,0.000,1030,0.000,0.044,2790,1987,2017,1847,2187,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1693,1.73,217.1,2790,1986,1847,2182,97.0,15.9,210,1710,0.00,2.20,10.40,0.490,8708,0.000,0.054,2799,597,1973,1804,2142,0,0,0,0,0,0,28.83,25.92,24.94
$GC,1781,1.74,223.7,2798,597,1804,2141,83.6,16.2,226,1794,0.00,2.22,6.47,0.465,9222,0.000,0.042,2799,2000,1947,1781,2114,0,0,0,0,0,0,28.83,26.03,24.94
$GC,1973,1.74,227.5,2799,2001,1780,2109,53.6,16.4,246,1985,0.00,2.25,3.22,0.356,8452,0.000,0.052,2799,3405,1935,1771,2100,0,0,0,0,0,0,28.83,26.08,24.72
$GC,2052,1.74,227.5,2798,3404,1774,2099,40.5,17.8,260,2057,0.00,2.25,0.00,0.000,1030,0.000,0.047,2809,1999,1937,1774,2100,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2246,1.87,263.3,2808,1999,1774,2099,11.2,14.3,280,2264,0.00,0.00,15.60,0.063,8198,0.000,0.000,2809,1999,1787,1622,1953,0,0,0,0,0,0,28.83,28.83,26.10
$STATE,2313,end climb,SURFACE_DEPTH_REACHED
$STATE,2313,begin surface coast
$FINISH,0.9,1.019324
$STATE,2334,end surface coast,CONTROL_FINISHED_OK
$STATE,2334,begin surface
$SM_CCo,2357,15.10,0.048,0,0,1638,300.00
$SM_GC,2.07,7.28,0.12,15.10,0.046,0.096,0.048,95,1914,1638,-10.58,0.79,300.00,0,0,0,0,0,0,26.11,26.41,26.19
$IRIDIUM_FIX,4710.21,-12221.92,220921,120247
$TT8_MAMPS,0.029211,0.029211
$HUMID,66.22
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.40
$XPDR_PINGS,12
$SC_FREEKB,3955616
$24V_AH,24.36,11.322
$10V_AH,9.66,6.707
$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,18.150,27.250,347.900,15.100,0.000,0.000,0.000,187.500,4.250,0.000,32.891,627.408,812.614,441.616,666.641,215.821,33.283,919.002,0.000,444.728,0.000,8.914,0.000
$DEVICE_MAMPS,258.570,109.395,576.045,48.195,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2346.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.609,0.000,0.000,0.000
$MEM,203732
$DATA_FILE_SIZE,10117,289
$CAP_FILE_SIZE,51795,0
$CFSIZE,260034560,245063680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2948.07,0x239dd2,7,5
$CURRENT,0.050,145.7,1
$GPS,200714,030315,4726.115,-12222.422,11,2.4,31,18.1