version: 66.12
glider: 124
mission: 17
dive: 117
start: 7 18 114 10 28 47
data:
$ID,124
$MISSION,17
$DIVE,117
$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,-307999.44
$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,27
$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
$GPS1,180714,102125,4725.379,-12221.892,12,1.4,12,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-68.3
$GPS2,180714,102743,4725.437,-12221.935,9,1.9,9,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.129,0.275
$KALMAN_X,-10477.7,-224.9,-130.8,9705.3,-87.8
$KALMAN_Y,12128.7,224.0,204.1,-10893.2,159.0
$MHEAD_RNG_PITCHd_Wd,318.7,1867,-25.0,-16.667,-28.75,1541
$D_GRID,174
$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,17,begin dive
$GC,21,-1.69,-180.8,94,1916,1531,1748,0.0,0.0,0,94,0.00,0.00,-70.43,0.000,16386,0.000,0.000,94,1916,2810,2823,2798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.69,-180.8,94,1916,2823,2800,3.1,-1.6,7,141,8.52,2.35,-25.85,0.000,18692,0.257,0.071,2039,3336,3601,3664,3538,0,0,0,0,0,0,25.29,25.94,26.54
$GC,371,-1.69,-180.8,2038,3336,3664,3538,58.5,-20.7,60,378,0.00,2.30,0.00,0.000,1030,0.000,0.049,2039,1913,3601,3664,3538,0,0,0,0,0,0,28.83,26.11,28.83
$GC,557,-1.69,-180.8,2039,1913,3663,3539,95.2,-19.9,79,562,0.00,2.30,0.00,0.000,260,0.000,0.057,2039,3333,3601,3663,3539,0,0,0,0,0,0,28.83,26.08,28.83
$GC,772,-1.69,-180.8,2039,3333,3663,3539,134.9,-18.0,121,778,0.00,2.28,0.00,0.000,1030,0.000,0.047,2039,1908,3600,3663,3538,0,0,0,0,0,0,28.83,26.23,28.83
$GC,969,-1.69,-180.8,2038,1908,3662,3539,170.9,-17.5,141,976,0.00,2.20,0.00,0.000,516,0.000,0.057,2039,503,3601,3663,3539,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,985,begin apogee
$GC,996,-0.47,0.0,2039,2007,3662,3539,175.1,-18.0,144,1151,0.85,0.00,143.55,0.579,10246,0.145,0.000,2303,2008,2858,2753,2963,0,0,0,0,0,0,25.63,28.83,24.46
$STATE,1152,end apogee,CONTROL_FINISHED_OK
$STATE,1152,begin climb
$GC,1156,1.69,180.8,2302,2008,2753,2963,182.4,0.0,160,1312,1.40,2.50,146.57,0.556,10756,0.083,0.055,2786,583,2121,1941,2301,0,0,0,0,0,0,25.27,25.06,24.35
$GC,1378,1.70,189.5,2786,583,1940,2295,159.7,16.1,202,1393,0.00,2.33,7.65,0.487,9222,0.000,0.044,2786,2009,2086,1910,2262,0,0,0,0,0,0,28.83,25.51,24.58
$GC,1582,1.70,189.5,2786,2009,1910,2257,124.3,16.8,224,1587,0.00,2.33,0.00,0.000,516,0.000,0.055,2786,586,2084,1911,2257,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1600,1.70,189.5,2786,586,1911,2257,121.2,17.2,227,1607,0.00,2.28,0.00,0.000,1030,0.000,0.044,2786,2004,2083,1910,2256,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1787,1.73,218.1,2786,2004,1911,2254,92.5,14.8,246,1819,0.00,2.25,24.65,0.516,8452,0.000,0.054,2786,3414,1969,1798,2141,0,0,0,0,0,0,28.83,25.86,25.06
$GC,1834,1.76,240.3,2786,3414,1799,2139,85.4,15.2,254,1859,0.00,2.30,19.25,0.503,9222,0.000,0.045,2796,1984,1880,1709,2052,0,0,0,0,0,0,28.83,25.90,24.92
$GC,2050,1.83,242.8,2798,1984,1710,2051,50.6,16.5,278,2055,0.00,2.33,0.00,0.000,260,0.000,0.054,2796,3413,1880,1710,2050,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2078,1.84,254.0,2796,3413,1711,2048,45.7,15.9,283,2096,0.00,2.28,12.57,0.481,9222,0.000,0.046,2806,1999,1824,1656,1992,0,0,0,0,0,0,28.83,25.99,25.03
$GC,2275,1.93,260.7,2805,1999,1657,1989,15.5,16.2,304,2288,0.10,2.35,2.33,0.074,10500,0.102,0.054,2851,3407,1800,1637,1963,0,0,0,0,0,0,26.29,26.00,25.92
$GC,2313,1.93,260.7,2850,3407,1641,1962,9.0,18.2,310,2319,0.12,2.28,0.00,0.000,5126,0.163,0.047,2830,1985,1801,1641,1962,0,0,0,0,0,0,25.86,26.07,28.83
$STATE,2354,end climb,SURFACE_DEPTH_REACHED
$STATE,2354,begin surface coast
$FINISH,0.9,1.003777
$STATE,2375,end surface coast,CONTROL_FINISHED_OK
$STATE,2376,begin surface
$SM_CCo,2399,16.17,0.050,0,0,1638,300.00
$SM_GC,2.59,7.38,0.10,16.17,0.047,0.109,0.050,92,1916,1638,-10.59,0.85,300.00,0,0,0,0,0,0,26.05,26.32,26.10
$IRIDIUM_FIX,4710.21,-12221.92,200921,201031
$TT8_MAMPS,0.02996,0.02996
$HUMID,65.51
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,170.9,19.3
$SC_FREEKB,3974816
$24V_AH,24.35,8.170
$10V_AH,9.35,4.862
$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,18.375,37.175,356.575,16.175,0.000,0.000,0.000,217.375,4.500,0.000,10.667,641.299,808.069,427.825,700.691,232.510,33.280,974.467,0.000,489.621,0.000,19.032,0.000
$DEVICE_MAMPS,257.040,109.395,579.105,49.725,0.000,0.000,0.000,113.985,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2387.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.335,0.000,0.000,0.000
$MEM,203996
$DATA_FILE_SIZE,10127,317
$CAP_FILE_SIZE,55706,0
$CFSIZE,260034560,246853632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2858.57,0x239dd2,7,5
$CURRENT,0.060,292.9,1
$GPS,180714,111001,4725.705,-12222.087,13,1.7,13,18.1