version: 66.12
glider: 124
mission: 17
dive: 120
start: 7 18 114 13 10 11
data:
$ID,124
$MISSION,17
$DIVE,120
$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,-308603.84
$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,29
$R_STBD_OVSHOOT,36
$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
$GPS1,180714,125626,4726.293,-12222.480,94,2.6,114,18.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-65.6
$GPS2,180714,130905,4726.334,-12222.461,16,1.4,32,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.265,0.114
$KALMAN_X,-10275.5,-213.6,-101.9,8801.0,104.4
$KALMAN_Y,12094.2,208.8,320.9,-9299.7,-97.0
$MHEAD_RNG_PITCHd_Wd,247.6,161,-26.4,-16.667,-30.00,1390
$D_GRID,171
$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,-1.75,-161.4,88,1907,1196,1488,0.0,0.0,0,124,0.00,0.00,-101.18,0.000,16386,0.000,0.000,88,1908,3040,3086,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,129,-1.77,-180.8,89,1907,3085,2995,3.6,-2.1,10,161,8.62,2.30,-13.70,0.000,18948,0.262,0.073,2021,504,3602,3671,3533,0,0,0,0,0,0,25.25,25.92,26.51
$GC,297,-1.64,-180.8,2020,505,3671,3534,46.2,-22.0,42,303,0.12,2.25,0.00,0.000,3078,0.203,0.047,2049,1912,3602,3671,3534,0,0,0,0,0,0,25.72,26.06,28.83
$GC,492,-1.64,-180.8,2049,1912,3670,3534,85.5,-19.2,62,497,0.00,2.22,0.00,0.000,260,0.000,0.057,2049,3327,3602,3670,3534,0,0,0,0,0,0,28.83,26.03,28.83
$GC,566,-1.64,-180.8,2049,3327,3670,3534,99.2,-17.3,76,572,0.00,2.25,0.00,0.000,1030,0.000,0.047,2050,1917,3602,3670,3534,0,0,0,0,0,0,28.83,26.16,28.83
$GC,760,-1.64,-180.8,2050,1917,3669,3534,133.7,-18.7,96,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1917,3602,3670,3534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,941,-1.64,-180.8,2049,1917,3669,3534,168.7,-17.8,114,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1917,3601,3669,3534,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,958,begin apogee
$GC,966,-0.47,0.0,2050,2008,3668,3534,172.1,-17.3,116,1115,0.82,0.00,142.05,0.578,10246,0.140,0.000,2307,2007,2861,2760,2962,0,0,0,0,0,0,25.64,28.83,24.46
$STATE,1116,end apogee,CONTROL_FINISHED_OK
$STATE,1116,begin climb
$GC,1120,1.77,180.8,2307,2007,2756,2960,179.6,0.0,131,1274,1.45,0.00,146.07,0.555,10246,0.088,0.000,2796,2007,2122,1940,2305,0,0,0,0,0,0,25.24,28.83,24.36
$GC,1453,1.77,181.5,2795,2007,1939,2294,134.9,16.6,165,1459,0.00,2.22,0.00,0.000,260,0.000,0.054,2796,3408,2117,1940,2294,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1503,1.77,181.5,2795,3408,1941,2291,125.8,17.9,174,1509,0.00,2.30,0.00,0.000,1030,0.000,0.045,2806,1984,2117,1942,2293,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1688,1.77,184.0,2806,1984,1941,2289,94.8,16.5,193,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1984,2115,1941,2289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1869,1.89,224.2,2805,1984,1942,2286,68.0,13.7,211,1911,0.00,2.22,35.35,0.505,8708,0.000,0.054,2814,588,1944,1767,2122,0,0,0,0,0,0,28.83,25.85,25.10
$GC,1986,1.98,224.2,2814,588,1768,2121,50.3,17.3,233,1993,0.10,2.25,0.00,0.000,3078,0.101,0.043,2857,2000,1944,1768,2120,0,0,0,0,0,0,25.94,25.97,28.83
$GC,2182,2.02,261.0,2856,2000,1768,2119,17.6,14.0,253,2201,0.00,0.00,15.38,0.080,8454,0.000,0.000,2857,2000,1798,1622,1974,0,0,0,0,0,0,28.83,28.83,25.91
$STATE,2268,end climb,SURFACE_DEPTH_REACHED
$STATE,2269,begin surface coast
$FINISH,1.1,1.021751
$STATE,2282,end surface coast,CONTROL_FINISHED_OK
$STATE,2283,begin surface
$SM_CCo,2303,16.27,0.049,0,0,1639,300.00
$SM_GC,2.21,7.45,0.17,16.27,0.047,0.088,0.049,95,1919,1639,-10.58,1.07,300.00,0,0,0,0,0,0,26.03,26.23,26.10
$IRIDIUM_FIX,4707.04,-12222.91,200921,233516
$TT8_MAMPS,0.029211,0.029211
$HUMID,65.86
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,19
$SC_FREEKB,3973664
$24V_AH,24.36,8.374
$10V_AH,9.73,4.991
$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,18.575,18.500,338.850,16.275,0.000,0.000,0.000,453.350,6.250,0.000,32.818,582.084,983.937,434.101,871.450,225.831,33.276,1153.899,0.000,412.837,0.000,10.508,0.000
$DEVICE_MAMPS,261.630,117.810,578.340,48.960,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2291.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.712,0.000,0.000,0.000
$MEM,203708
$DATA_FILE_SIZE,6809,264
$CAP_FILE_SIZE,52391,0
$CFSIZE,260034560,246751232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,131.2,1
$GPS,180714,135009,4726.225,-12222.824,13,2.4,33,18.1