version: 66.12
glider: 124
mission: 17
dive: 43
start: 7 15 114 23 59 57
data:
$ID,124
$MISSION,17
$DIVE,43
$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,-307906.94
$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,23
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,300
$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
$GPS1,150714,235321,4726.327,-12222.598,9,7.2,29,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-65.7
$GPS2,150714,235850,4726.342,-12222.561,10,8.8,30,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,mooring
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.229,0.175
$KALMAN_X,-5497.0,-38.8,-141.4,3758.8,269.8
$KALMAN_Y,3596.3,129.1,176.2,-565.1,-224.4
$MHEAD_RNG_PITCHd_Wd,255.6,36,-26.4,-16.667,-30.00,1390
$D_GRID,188
$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,16,begin dive
$GC,20,-1.75,-161.4,93,1901,1533,1746,0.0,0.0,0,102,0.00,0.00,-80.10,0.000,16386,0.000,0.000,93,1901,2935,2965,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.77,-180.8,92,1901,2965,2906,3.3,-1.8,8,141,8.45,2.40,-19.38,0.000,18692,0.258,0.073,2022,3322,3601,3668,3534,0,0,0,0,0,0,25.39,25.95,26.55
$GC,209,-1.67,-180.8,2022,3322,3668,3536,26.3,-26.0,27,217,0.10,2.28,0.00,0.000,3078,0.196,0.049,2045,1913,3602,3668,3536,0,0,0,0,0,0,25.79,26.04,28.83
$GC,396,-1.67,-180.8,2045,1913,3668,3537,64.6,-21.7,46,401,0.00,2.30,0.00,0.000,260,0.000,0.057,2045,3327,3601,3667,3536,0,0,0,0,0,0,28.83,26.01,28.83
$GC,424,-1.67,-180.8,2045,3327,3667,3536,70.2,-19.3,51,430,0.00,2.28,0.00,0.000,1030,0.000,0.049,2045,1914,3601,3667,3536,0,0,0,0,0,0,28.83,26.10,28.83
$GC,610,-1.67,-180.8,2044,1914,3667,3536,105.6,-17.6,70,616,0.00,2.22,0.00,0.000,516,0.000,0.060,2045,506,3602,3668,3537,0,0,0,0,0,0,28.83,26.04,28.83
$GC,720,-1.67,-180.8,2045,506,3667,3536,127.5,-19.5,91,727,0.00,2.25,0.00,0.000,1030,0.000,0.048,2045,1917,3601,3667,3536,0,0,0,0,0,0,28.83,26.15,28.83
$GC,906,-1.67,-180.8,2045,1917,3667,3537,161.8,-18.7,110,912,0.00,2.22,0.00,0.000,260,0.000,0.058,2043,3331,3601,3667,3536,0,0,0,0,0,0,28.83,26.08,28.83
$GC,941,-1.67,-180.8,2043,3332,3667,3536,168.4,-18.9,116,946,0.00,2.28,0.00,0.000,1030,0.000,0.051,2043,1917,3601,3667,3536,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,1033,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1033,begin apogee
$GC,1043,-0.47,0.0,2043,2006,3666,3537,186.6,-19.6,126,1194,0.85,0.00,143.12,0.589,10246,0.145,0.000,2299,2007,2859,2753,2965,0,0,0,0,0,0,25.57,28.83,24.44
$STATE,1195,end apogee,CONTROL_FINISHED_OK
$STATE,1195,begin climb
$GC,1199,1.77,180.8,2299,2007,2751,2964,192.4,0.0,142,1354,1.48,2.40,145.90,0.563,10500,0.089,0.054,2792,3410,2120,1945,2296,0,0,0,0,0,0,25.19,25.00,24.32
$GC,1582,1.77,180.8,2792,3410,1949,2279,145.7,17.7,217,1589,0.00,2.30,0.00,0.000,1030,0.000,0.047,2802,1991,2114,1949,2279,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1769,1.77,180.8,2802,1991,1949,2278,111.8,17.7,236,1775,0.00,2.33,0.00,0.000,260,0.000,0.054,2802,3412,2113,1949,2278,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1877,1.77,181.5,2802,3412,1952,2273,92.6,16.6,256,1883,0.00,2.28,0.00,0.000,1030,0.000,0.047,2812,1999,2112,1952,2273,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2072,1.77,181.5,2812,1999,1952,2273,56.9,18.4,276,2077,0.00,2.25,0.00,0.000,516,0.000,0.060,2823,585,2112,1952,2273,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2146,1.78,190.0,2822,586,1952,2272,43.5,16.0,290,2160,0.12,2.25,6.82,0.448,13318,0.154,0.045,2792,2005,2084,1924,2244,0,0,0,0,0,0,25.92,26.15,25.32
$GC,2339,1.93,230.4,2792,2005,1924,2242,15.8,13.7,310,2362,0.12,2.30,17.20,0.073,10500,0.091,0.056,2849,3413,1923,1761,2085,0,0,0,0,0,0,26.41,26.08,26.03
$STATE,2419,end climb,SURFACE_DEPTH_REACHED
$STATE,2419,begin surface coast
$FINISH,1.0,1.021562
$STATE,2430,end surface coast,CONTROL_FINISHED_OK
$STATE,2430,begin surface
$SM_CCo,2452,28.65,0.048,0,0,1639,300.00
$SM_GC,1.58,7.47,2.45,28.65,0.051,0.048,0.048,91,1919,1639,-10.60,0.93,300.00,0,0,0,0,0,0,26.09,26.14,26.16
$IRIDIUM_FIX,4710.21,-12215.83,180921,094749
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.38
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.60
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,170.8,23.7
$SC_FREEKB,4003232
$24V_AH,24.32,3.620
$10V_AH,9.34,2.234
$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,18.600,36.950,313.050,28.650,0.000,0.000,0.000,152.600,5.250,0.000,31.696,686.100,841.179,403.004,688.996,212.062,33.264,884.797,0.000,499.920,0.000,16.268,0.000
$DEVICE_MAMPS,257.805,78.030,589.050,48.195,0.000,0.000,0.000,120.105,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2437.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.022,0.000,0.000,0.000
$MEM,203944
$DATA_FILE_SIZE,10134,327
$CAP_FILE_SIZE,56083,0
$CFSIZE,260034560,249454592
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2458.06,0x239dd2,7,5
$INTR,1,1107.29,0x2369a0,2,24
$CURRENT,0.089,117.3,1
$GPS,160714,004236,4726.207,-12222.793,32,1.2,32,18.1