version: 66.12
glider: 124
mission: 17
dive: 201
start: 7 21 114 5 31 20
data:
$ID,124
$MISSION,17
$DIVE,201
$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,-309417.94
$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,28
$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
$GPS1,210714,052433,4726.335,-12222.351,9,2.1,29,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-68.2
$GPS2,210714,053013,4726.325,-12222.361,13,1.5,13,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.223,0.183
$KALMAN_X,-13553.0,32.4,-298.5,12156.1,-21.3
$KALMAN_Y,14461.8,-96.6,207.4,-11264.7,-183.4
$MHEAD_RNG_PITCHd_Wd,261.7,287,-26.4,-16.667,-30.00,1390
$D_GRID,173
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.75,-161.4,86,1912,1534,1743,0.0,0.0,0,93,0.00,0.00,-69.97,0.000,16386,0.000,0.000,86,1913,2814,2838,2790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.77,-180.8,86,1912,2839,2791,3.3,-2.0,7,135,8.57,2.40,-22.73,0.000,18692,0.259,0.069,2021,3326,3602,3674,3530,0,0,0,0,0,0,25.27,25.58,26.60
$GC,310,-1.77,-180.8,2021,3326,3674,3533,49.6,-22.4,48,317,0.00,2.25,0.00,0.000,1030,0.000,0.044,2022,1914,3603,3674,3533,0,0,0,0,0,0,28.83,26.17,28.83
$GC,496,-1.77,-180.8,2022,1914,3673,3533,90.9,-20.1,67,501,0.00,2.20,0.00,0.000,516,0.000,0.054,2022,499,3603,3673,3533,0,0,0,0,0,0,28.83,26.13,28.83
$GC,551,-1.68,-180.8,2022,499,3671,3532,102.9,-22.7,77,558,0.10,2.25,0.00,0.000,3078,0.208,0.044,2044,1932,3602,3672,3533,0,0,0,0,0,0,25.96,26.23,28.83
$GC,747,-1.68,-180.8,2045,1932,3671,3533,139.7,-18.7,97,756,0.00,2.17,0.00,0.000,260,0.000,0.054,2043,3335,3601,3671,3532,0,0,0,0,0,0,28.83,26.17,28.83
$GC,789,-1.68,-180.8,2043,3335,3671,3533,147.5,-18.2,104,796,0.00,2.28,0.00,0.000,1030,0.000,0.047,2043,1915,3602,3671,3533,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,931,begin apogee
$GC,940,-0.47,0.0,2043,2009,3671,3533,174.6,-18.7,119,1088,0.82,0.00,141.52,0.583,10246,0.143,0.000,2299,2009,2860,2770,2951,0,0,0,0,0,0,25.67,28.83,24.45
$STATE,1090,end apogee,CONTROL_FINISHED_OK
$STATE,1090,begin climb
$GC,1093,1.77,180.8,2299,2009,2768,2950,184.1,0.0,134,1248,1.48,2.38,145.05,0.555,10500,0.091,0.050,2794,3414,2119,1947,2292,0,0,0,0,0,0,25.27,25.15,24.37
$GC,1335,1.77,181.0,2794,3414,1951,2292,158.1,16.7,180,1340,0.00,2.30,0.00,0.000,1030,0.000,0.044,2804,1998,2121,1952,2291,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1529,1.78,185.1,2804,1999,1952,2291,126.2,16.4,200,1537,0.00,0.00,3.42,0.372,8198,0.000,0.000,2804,1998,2107,1941,2274,0,0,0,0,0,0,28.83,28.83,24.61
$GC,1720,1.88,221.2,2803,1999,1947,2274,98.7,14.0,219,1758,0.00,2.30,31.95,0.524,8452,0.000,0.050,2804,3409,1956,1789,2124,0,0,0,0,0,0,28.83,25.84,24.98
$GC,1776,1.92,252.9,2804,3409,1791,2123,90.7,14.3,228,1809,0.00,2.30,27.20,0.515,9222,0.000,0.045,2814,1983,1829,1661,1997,0,0,0,0,0,0,28.83,25.89,24.80
$GC,1999,2.04,274.6,2813,1983,1663,1994,54.4,15.1,253,2026,0.12,2.22,18.90,0.498,10756,0.087,0.054,2881,595,1738,1582,1895,0,0,0,0,0,0,26.18,25.83,24.94
$GC,2079,2.04,274.6,2881,595,1581,1893,38.2,24.0,267,2086,0.08,2.22,0.00,0.000,5126,0.131,0.042,2855,2005,1736,1581,1892,0,0,0,0,0,0,25.75,25.94,28.83
$STATE,2272,end climb,SURFACE_DEPTH_REACHED
$STATE,2272,begin surface coast
$FINISH,1.4,1.021426
$STATE,2283,end surface coast,CONTROL_FINISHED_OK
$STATE,2283,begin surface
$SM_CCo,2304,9.52,0.049,0,0,1638,300.00
$SM_GC,3.18,7.45,0.20,9.52,0.047,0.069,0.049,89,1911,1638,-10.61,0.68,300.00,0,0,0,0,0,0,26.01,26.25,26.09
$IRIDIUM_FIX,4710.21,-12221.92,230921,151351
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.19
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.40
$XPDR_PINGS,16
$SC_FREEKB,3942560
$24V_AH,24.37,13.444
$10V_AH,9.29,7.958
$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,18.625,27.675,368.050,9.525,0.000,0.000,0.000,170.175,5.500,0.000,14.566,592.879,823.745,415.754,628.191,212.029,33.281,892.994,0.000,444.017,0.000,10.500,0.000
$DEVICE_MAMPS,259.335,69.615,582.930,48.960,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2293.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.983,0.000,0.000,0.000
$MEM,203740
$DATA_FILE_SIZE,10165,288
$CAP_FILE_SIZE,51224,0
$CFSIZE,260034560,243875840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2808.14,0x239dd2,7,5
$CURRENT,0.043,187.0,1
$GPS,210714,061049,4726.360,-12222.822,11,1.2,11,18.1