version: 66.12
glider: 124
mission: 17
dive: 198
start: 7 21 114 3 10 37
data:
$ID,124
$MISSION,17
$DIVE,198
$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,-309414.19
$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,25
$R_STBD_OVSHOOT,31
$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
$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
$GPS1,210714,030618,4726.470,-12222.755,11,1.9,28,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-66.2
$GPS2,210714,030931,4726.469,-12222.768,15,1.9,15,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.234,-0.169
$KALMAN_X,-13564.7,178.6,-205.8,11421.7,-195.9
$KALMAN_Y,14916.8,-191.0,326.5,-11476.7,66.1
$MHEAD_RNG_PITCHd_Wd,112.1,324,-26.4,-16.667,-30.00,1390
$D_GRID,154
$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,18,begin dive
$GC,21,-1.75,-161.4,92,1891,1540,1740,0.0,0.0,0,94,0.00,0.00,-69.88,0.000,16386,0.000,0.000,92,1891,2826,2852,2800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.77,-180.8,92,1891,2852,2802,3.2,-1.8,7,136,8.52,2.22,-21.55,0.000,18948,0.257,0.065,2022,504,3600,3669,3531,0,0,0,0,0,0,25.25,26.00,26.63
$GC,314,-1.62,-180.8,2022,504,3670,3532,54.0,-25.8,48,321,0.15,2.25,0.00,0.000,3078,0.195,0.044,2059,1931,3601,3670,3532,0,0,0,0,0,0,25.73,26.15,28.83
$GC,500,-1.62,-180.8,2059,1931,3668,3533,91.4,-17.9,67,505,0.00,2.30,0.00,0.000,516,0.000,0.055,2059,502,3600,3668,3532,0,0,0,0,0,0,28.83,26.12,28.83
$GC,519,-1.62,-180.8,2059,502,3668,3532,94.9,-17.5,70,526,0.00,2.25,0.00,0.000,1030,0.000,0.044,2060,1926,3600,3668,3532,0,0,0,0,0,0,28.83,26.21,28.83
$GC,706,-1.62,-180.8,2059,1927,3666,3532,127.8,-17.9,89,712,0.00,2.15,0.00,0.000,260,0.000,0.054,2060,3321,3599,3666,3532,0,0,0,0,0,0,28.83,26.15,28.83
$GC,755,-1.62,-180.8,2059,3321,3666,3532,136.8,-17.5,98,762,0.00,2.25,0.00,0.000,1030,0.000,0.046,2060,1914,3599,3666,3532,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,858,begin apogee
$GC,867,-0.47,0.0,2059,2008,3665,3533,155.3,-17.8,109,1014,0.77,0.00,140.57,0.577,10246,0.142,0.000,2302,2009,2861,2772,2950,0,0,0,0,0,0,25.65,28.83,24.48
$STATE,1016,end apogee,CONTROL_FINISHED_OK
$STATE,1016,begin climb
$GC,1019,1.77,180.8,2302,2009,2768,2948,163.4,0.0,124,1173,1.45,0.00,141.05,0.551,10502,0.090,0.000,2792,2009,2120,1951,2290,0,0,0,0,0,0,25.28,28.83,24.38
$GC,1353,1.86,200.7,2791,2009,1952,2284,123.3,15.2,165,1375,0.10,2.30,16.38,0.509,10500,0.101,0.052,2837,3406,2039,1873,2206,0,0,0,0,0,0,26.04,25.73,24.80
$GC,1399,1.86,200.7,2838,3406,1874,2203,115.0,18.2,173,1407,0.15,2.30,0.00,0.000,5126,0.156,0.045,2810,1982,2038,1874,2202,0,0,0,0,0,0,25.57,25.80,28.83
$GC,1595,1.86,200.7,2810,1983,1874,2202,81.9,17.6,193,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1983,2037,1874,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1776,1.97,229.3,2810,1983,1873,2201,54.0,14.6,211,1808,0.10,2.20,23.90,0.497,10756,0.102,0.052,2865,590,1924,1762,2087,0,0,0,0,0,0,26.39,25.96,25.08
$GC,1837,1.97,229.3,2865,588,1767,2087,43.3,20.2,222,1844,0.12,2.25,0.00,0.000,5126,0.148,0.041,2833,2006,1927,1767,2087,0,0,0,0,0,0,25.82,26.03,28.83
$GC,2024,2.08,250.4,2832,2006,1776,2087,13.5,15.1,241,2041,0.10,0.00,9.50,0.069,10246,0.102,0.000,2873,2007,1841,1683,1999,0,0,0,0,0,0,26.36,28.83,25.99
$STATE,2080,end climb,SURFACE_DEPTH_REACHED
$STATE,2080,begin surface coast
$FINISH,0.9,1.021152
$STATE,2091,end surface coast,CONTROL_FINISHED_OK
$STATE,2091,begin surface
$SM_CCo,2114,20.08,0.050,0,0,1638,300.00
$SM_GC,2.44,7.47,0.20,20.08,0.046,0.069,0.050,90,1911,1638,-10.60,0.71,300.00,0,0,0,0,0,0,26.06,26.31,26.13
$IRIDIUM_FIX,4713.38,-12220.94,230921,133649
$TT8_MAMPS,0.028462,0.028462
$HUMID,64.88
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.60
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,120.4,53.3
$SC_FREEKB,3943712
$24V_AH,24.38,13.256
$10V_AH,9.67,7.847
$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,18.950,22.875,331.400,20.075,0.000,0.000,0.000,0.000,6.500,0.000,16.334,529.840,770.463,410.360,407.318,104.923,33.268,676.154,0.000,384.629,0.000,5.562,0.000
$DEVICE_MAMPS,257.040,70.380,576.810,49.725,0.000,0.000,0.000,0.000,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2070.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.601,0.000,0.000,0.000
$MEM,203776
$DATA_FILE_SIZE,6809,248
$CAP_FILE_SIZE,57932,1
$CFSIZE,260034560,243978240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2770.53,0x239dd2,7,5
$CURRENT,0.021,153.4,1
$GPS,210714,034727,4726.292,-12222.382,10,2.9,30,18.1