version: 66.12
glider: 124
mission: 17
dive: 108
start: 7 18 114 3 14 32
data:
$ID,124
$MISSION,17
$DIVE,108
$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,-307988.19
$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,35
$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,9.1999998
$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
$GPS1,180714,030501,4726.667,-12223.162,12,1.8,12,18.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-67.0
$GPS2,180714,031327,4726.641,-12223.198,13,2.5,33,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.271,-0.137
$KALMAN_X,-9257.9,-42.3,-24.6,6615.7,115.1
$KALMAN_Y,10618.2,287.2,85.6,-7096.8,-217.6
$MHEAD_RNG_PITCHd_Wd,101.2,942,-25.0,-16.667,-28.75,1541
$D_GRID,185
$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,-1.69,-180.8,94,1913,1535,1745,0.0,0.0,0,102,0.00,0.00,-79.80,0.000,16386,0.000,0.000,94,1913,2932,2960,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,94,1913,2960,2904,3.2,-1.7,8,141,8.57,2.40,-18.70,0.000,18692,0.259,0.069,2037,3327,3601,3665,3537,0,0,0,0,0,0,25.32,25.94,26.54
$GC,236,-1.54,-180.8,2036,3328,3665,3538,31.4,-24.7,32,242,0.15,2.28,0.00,0.000,3078,0.177,0.048,2075,1920,3601,3665,3538,0,0,0,0,0,0,25.70,26.06,28.83
$GC,431,-1.54,-180.8,2075,1919,3665,3538,73.8,-19.5,52,436,0.00,2.22,0.00,0.000,516,0.000,0.057,2075,503,3601,3664,3538,0,0,0,0,0,0,28.83,26.05,28.83
$GC,539,-1.54,-180.8,2075,503,3664,3539,92.7,-16.0,72,545,0.00,2.25,0.00,0.000,1030,0.000,0.046,2075,1921,3601,3664,3539,0,0,0,0,0,0,28.83,26.17,28.83
$GC,734,-1.54,-180.8,2075,1921,3663,3539,124.3,-15.7,92,740,0.00,2.28,0.00,0.000,516,0.000,0.055,2075,508,3601,3663,3539,0,0,0,0,0,0,28.83,26.13,28.83
$GC,775,-1.54,-180.8,2074,508,3663,3539,131.6,-18.3,99,782,0.00,2.25,0.00,0.000,1030,0.000,0.046,2075,1933,3601,3664,3538,0,0,0,0,0,0,28.83,26.20,28.83
$GC,962,-1.54,-180.8,2075,1933,3663,3539,162.2,-16.0,118,968,0.00,2.17,0.00,0.000,260,0.000,0.057,2075,3320,3600,3663,3538,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1022,-1.61,-180.8,2075,3320,3663,3539,171.2,-14.2,129,1029,0.00,2.25,0.00,0.000,1030,0.000,0.047,2076,1913,3601,3663,3539,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,1105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1105,begin apogee
$GC,1114,-0.47,0.0,2075,2007,3663,3539,185.2,-16.9,138,1270,0.73,0.00,143.60,0.596,10246,0.136,0.000,2305,2007,2858,2751,2966,0,0,0,0,0,0,25.70,28.83,24.46
$STATE,1272,end apogee,CONTROL_FINISHED_OK
$STATE,1272,begin climb
$GC,1275,1.69,180.8,2305,2007,2750,2965,189.6,0.0,154,1431,1.35,0.00,145.38,0.563,10502,0.071,0.000,2776,2007,2121,1940,2302,0,0,0,0,0,0,25.29,28.83,24.36
$GC,1610,1.74,223.2,2776,2007,1943,2295,154.3,13.9,192,1648,0.00,0.00,34.75,0.546,8198,0.000,0.000,2776,2007,1949,1773,2126,0,0,0,0,0,0,28.83,28.83,24.69
$GC,1831,1.83,243.6,2776,2007,1777,2125,120.9,15.3,214,1852,0.12,0.00,18.00,0.522,10246,0.086,0.000,2831,2007,1868,1698,2038,0,0,0,0,0,0,26.07,28.83,24.91
$GC,2032,1.83,243.6,2831,2007,1697,2034,80.1,21.7,234,2038,0.10,2.33,0.00,0.000,4612,0.164,0.054,2817,585,1865,1697,2034,0,0,0,0,0,0,26.01,25.91,28.83
$GC,2087,1.83,243.6,2817,585,1698,2034,69.7,17.4,244,2093,0.00,2.25,0.00,0.000,1030,0.000,0.044,2817,1998,1865,1698,2033,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2282,1.86,265.7,2817,1998,1697,2033,38.9,15.2,264,2308,0.00,2.38,18.73,0.495,8708,0.000,0.057,2827,579,1775,1612,1938,0,0,0,0,0,0,28.83,26.00,25.20
$GC,2327,1.86,266.5,2827,579,1615,1937,31.3,16.6,272,2333,0.00,2.28,0.00,0.000,1030,0.000,0.044,2827,2003,1776,1615,1938,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,2499,end climb,SURFACE_DEPTH_REACHED
$STATE,2499,begin surface coast
$FINISH,1.1,1.021585
$STATE,2510,end surface coast,CONTROL_FINISHED_OK
$STATE,2510,begin surface
$SM_CCo,2531,13.48,0.049,0,0,1639,300.00
$SM_GC,2.49,7.38,0.20,13.48,0.047,0.072,0.049,94,1913,1639,-10.58,0.74,300.00,0,0,0,0,0,0,26.05,26.25,26.10
$IRIDIUM_FIX,4707.04,-12222.91,200921,124930
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.67
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,130.3,71.1
$SC_FREEKB,3978272
$24V_AH,24.36,7.603
$10V_AH,9.69,4.535
$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,18.400,27.725,360.450,13.475,0.000,0.000,0.000,258.450,3.250,0.000,34.568,639.436,1028.183,445.008,723.311,230.061,33.273,999.409,0.000,451.906,0.000,7.193,0.000
$DEVICE_MAMPS,259.335,73.440,595.935,48.960,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2518.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.628,0.000,0.000,0.000
$MEM,204056
$DATA_FILE_SIZE,10120,291
$CAP_FILE_SIZE,55006,0
$CFSIZE,260034560,247169024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3275.71,0x239dd2,7,5
$CURRENT,0.045,242.1,1
$GPS,180714,035813,4726.438,-12222.825,31,1.9,31,18.1