version: 66.12
glider: 124
mission: 17
dive: 182
start: 7 20 114 14 31 40
data:
$ID,124
$MISSION,17
$DIVE,182
$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,-309282
$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,31
$R_STBD_OVSHOOT,26
$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
$GPS1,200714,142445,4726.213,-12222.706,13,2.1,33,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-69.4
$GPS2,200714,143035,4726.207,-12222.720,12,2.0,28,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.165,0.237
$KALMAN_X,-14175.4,-132.3,-280.2,12479.6,-71.7
$KALMAN_Y,16126.7,170.8,324.1,-13528.4,-86.5
$MHEAD_RNG_PITCHd_Wd,22.9,301,-26.4,-16.667,-30.00,1390
$D_GRID,177
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.75,-161.4,90,1913,1535,1750,0.0,0.0,0,94,0.00,0.00,-69.72,0.000,16386,0.000,0.000,90,1913,2851,2881,2822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.77,-180.8,90,1913,2881,2822,3.6,-2.5,7,136,8.52,2.40,-19.23,0.000,18692,0.259,0.070,2023,3338,3602,3673,3531,0,0,0,0,0,0,25.27,26.00,26.61
$GC,367,-1.77,-180.8,2023,3338,3672,3533,64.5,-20.2,59,372,0.00,2.28,0.00,0.000,1030,0.000,0.046,2024,1914,3603,3673,3533,0,0,0,0,0,0,28.83,26.17,28.83
$GC,561,-1.77,-180.8,2023,1914,3672,3533,104.6,-20.1,79,566,0.00,2.28,0.00,0.000,260,0.000,0.054,2024,3329,3602,3672,3533,0,0,0,0,0,0,28.83,26.12,28.83
$GC,701,-1.77,-180.8,2024,3329,3671,3534,132.5,-19.9,106,708,0.00,2.28,0.00,0.000,1030,0.000,0.046,2024,1913,3602,3671,3533,0,0,0,0,0,0,28.83,26.25,28.83
$GC,887,-1.77,-180.8,2023,1913,3671,3534,169.7,-19.3,125,894,0.00,2.17,0.00,0.000,516,0.000,0.054,2024,507,3602,3671,3533,0,0,0,0,0,0,28.83,26.19,28.83
$STATE,919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,919,begin apogee
$GC,929,-0.47,0.0,2024,2005,3671,3533,177.2,-21.0,131,1084,0.93,0.00,144.23,0.575,10246,0.149,0.000,2307,2006,2857,2763,2952,0,0,0,0,0,0,25.60,28.83,24.47
$STATE,1086,end apogee,CONTROL_FINISHED_OK
$STATE,1086,begin climb
$GC,1089,1.77,180.8,2306,2006,2762,2951,188.0,0.0,147,1245,1.45,2.38,146.55,0.554,10500,0.088,0.052,2798,3410,2120,1946,2295,0,0,0,0,0,0,25.29,25.12,24.36
$GC,1269,1.80,203.3,2798,3410,1946,2292,172.8,15.0,181,1296,0.00,2.35,19.17,0.527,9222,0.000,0.044,2809,1983,2029,1851,2207,0,0,0,0,0,0,28.83,25.37,24.45
$GC,1485,1.80,203.3,2808,1982,1852,2202,134.2,19.2,205,1491,0.00,2.20,0.00,0.000,516,0.000,0.054,2818,588,2027,1852,2202,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1554,1.80,203.3,2818,588,1853,2200,121.0,20.1,218,1561,0.00,2.25,0.00,0.000,1030,0.000,0.041,2818,2006,2026,1853,2200,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1740,1.80,203.3,2818,2006,1852,2198,87.5,17.6,237,1746,0.00,2.20,0.00,0.000,260,0.000,0.054,2818,3406,2025,1853,2198,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1851,1.80,203.3,2818,3406,1856,2193,67.8,18.9,258,1858,0.12,2.25,0.00,0.000,5126,0.164,0.044,2798,1991,2024,1856,2192,0,0,0,0,0,0,25.91,26.14,28.83
$GC,2038,1.96,241.8,2797,1991,1856,2193,38.9,13.8,277,2080,0.12,2.28,32.62,0.490,10756,0.089,0.054,2866,586,1872,1705,2039,0,0,0,0,0,0,26.45,25.98,25.15
$GC,2137,1.96,241.8,2866,585,1705,2039,21.7,19.7,295,2143,0.12,2.25,0.00,0.000,5126,0.147,0.042,2835,2005,1872,1705,2039,0,0,0,0,0,0,25.84,26.05,28.83
$STATE,2262,end climb,SURFACE_DEPTH_REACHED
$STATE,2262,begin surface coast
$FINISH,0.8,1.001547
$STATE,2280,end surface coast,CONTROL_FINISHED_OK
$STATE,2280,begin surface
$SM_CCo,2301,23.00,0.050,0,0,1639,300.00
$SM_GC,2.61,7.43,0.20,23.00,0.049,0.069,0.050,91,1912,1639,-10.60,0.71,300.00,0,0,0,0,0,0,25.98,26.27,26.09
$IRIDIUM_FIX,4710.21,-12224.61,230921,001309
$TT8_MAMPS,0.029211,0.029211
$HUMID,65.00
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,12
$SC_FREEKB,3949856
$24V_AH,24.36,12.245
$10V_AH,9.33,7.268
$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,18.700,32.175,342.575,23.000,0.000,0.000,0.000,166.675,4.500,0.000,28.803,625.012,767.949,414.171,671.479,212.842,33.278,899.050,0.000,477.432,0.000,10.501,0.000
$DEVICE_MAMPS,258.570,69.615,575.280,50.490,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2290.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.325,0.000,0.000,0.000
$MEM,203656
$DATA_FILE_SIZE,10114,310
$CAP_FILE_SIZE,51373,0
$CFSIZE,260034560,244523008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2861.62,0x239dd2,7,5
$CURRENT,0.005,178.6,1
$GPS,200714,151135,4726.432,-12222.377,14,1.8,25,18.1