version: 66.12
glider: 124
mission: 17
dive: 134
start: 7 19 114 0 21 14
data:
$ID,124
$MISSION,17
$DIVE,134
$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,-309222
$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,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
$GPS1,190714,001427,4725.819,-12222.286,11,2.1,31,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-66.7
$GPS2,190714,002009,4725.850,-12222.292,11,2.1,31,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.170,0.251
$KALMAN_X,-12199.7,-336.8,-195.7,11157.4,126.1
$KALMAN_Y,12894.8,76.3,183.0,-10723.0,26.0
$MHEAD_RNG_PITCHd_Wd,321.0,985,-25.0,-16.667,-28.75,1541
$D_GRID,169
$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,-180.8,89,1923,1518,1761,0.0,0.0,0,93,0.00,0.00,-69.75,0.000,16386,0.000,0.000,89,1923,2780,2791,2769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.69,-180.8,89,1923,2791,2770,3.1,-1.9,7,141,8.55,2.33,-29.10,0.000,18948,0.259,0.069,2038,504,3600,3667,3534,0,0,0,0,0,0,25.34,26.01,26.59
$GC,371,-1.58,-180.8,2038,504,3671,3535,62.5,-18.5,60,379,0.12,2.25,0.00,0.000,3078,0.193,0.045,2068,1914,3602,3669,3535,0,0,0,0,0,0,25.84,26.16,28.83
$GC,557,-1.58,-180.8,2067,1914,3669,3535,97.2,-18.4,79,563,0.00,2.25,0.00,0.000,516,0.000,0.055,2068,513,3601,3669,3534,0,0,0,0,0,0,28.83,26.13,28.83
$GC,683,-1.58,-180.8,2066,514,3668,3534,121.0,-17.5,103,688,0.00,2.22,0.00,0.000,1030,0.000,0.045,2068,1924,3601,3668,3534,0,0,0,0,0,0,28.83,26.25,28.83
$GC,878,-1.58,-180.8,2068,1924,3668,3535,154.2,-17.2,123,884,0.00,2.20,0.00,0.000,260,0.000,0.057,2068,3333,3601,3667,3535,0,0,0,0,0,0,28.83,26.17,28.83
$GC,923,-1.58,-180.8,2068,3333,3667,3535,161.3,-16.5,131,928,0.00,2.25,0.00,0.000,1030,0.000,0.047,2068,1920,3601,3668,3535,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,974,begin apogee
$GC,982,-0.47,0.0,2068,2009,3668,3535,170.7,-17.0,137,1132,0.75,0.00,143.07,0.599,10246,0.142,0.000,2302,2009,2860,2758,2963,0,0,0,0,0,0,25.70,28.83,24.42
$STATE,1134,end apogee,CONTROL_FINISHED_OK
$STATE,1134,begin climb
$GC,1137,1.69,180.8,2302,2009,2756,2962,178.7,0.0,152,1294,1.42,2.40,146.02,0.565,10500,0.090,0.053,2779,3417,2121,1938,2305,0,0,0,0,0,0,25.22,25.08,24.34
$GC,1351,1.71,203.5,2779,3417,1941,2297,159.7,15.2,192,1377,0.00,2.33,19.27,0.532,9222,0.000,0.044,2789,2000,2029,1846,2212,0,0,0,0,0,0,28.83,25.48,24.53
$GC,1566,1.72,204.9,2789,2000,1848,2206,123.1,16.6,216,1571,0.00,2.25,0.00,0.000,516,0.000,0.056,2798,581,2027,1848,2206,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1614,1.73,216.0,2798,581,1849,2205,115.3,15.9,225,1632,0.00,2.28,10.95,0.506,9222,0.000,0.042,2798,2006,1979,1804,2154,0,0,0,0,0,0,28.83,25.96,24.89
$GC,1812,1.73,219.2,2798,2006,1805,2151,82.8,16.5,246,1823,0.00,2.25,3.22,0.360,8452,0.000,0.054,2798,3421,1969,1797,2141,0,0,0,0,0,0,28.83,26.01,24.70
$GC,1847,1.73,219.2,2798,3421,1800,2141,76.7,17.3,252,1852,0.00,2.30,0.00,0.000,1030,0.000,0.046,2808,1983,1970,1800,2141,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2041,1.73,219.2,2808,1983,1801,2141,44.4,16.8,272,2046,0.00,2.20,0.00,0.000,516,0.000,0.056,2818,587,1971,1801,2141,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2099,1.84,251.9,2817,587,1801,2141,35.5,14.5,283,2137,0.00,2.25,28.27,0.506,9222,0.000,0.043,2817,2009,1832,1661,2003,0,0,0,0,0,0,28.83,26.19,25.12
$STATE,2313,end climb,SURFACE_DEPTH_REACHED
$STATE,2313,begin surface coast
$FINISH,0.9,1.021091
$STATE,2334,end surface coast,CONTROL_FINISHED_OK
$STATE,2334,begin surface
$SM_CCo,2357,19.12,0.050,0,0,1638,300.00
$SM_GC,2.25,7.38,0.20,19.12,0.047,0.070,0.050,89,1914,1638,-10.61,0.85,300.00,0,0,0,0,0,0,26.01,26.24,26.08
$IRIDIUM_FIX,4703.87,-12223.89,210921,100233
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.75
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,140.7,47.5
$SC_FREEKB,3968288
$24V_AH,24.34,9.237
$10V_AH,9.21,5.516
$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,18.225,32.225,350.825,19.125,0.000,0.000,0.000,158.575,3.500,0.000,32.154,633.002,805.815,420.403,668.925,207.638,33.274,897.505,0.000,469.984,0.000,14.328,0.000
$DEVICE_MAMPS,258.570,137.700,598.995,49.725,0.000,0.000,0.000,120.870,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2343.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.785,0.000,0.000,0.000
$MEM,203676
$DATA_FILE_SIZE,10139,310
$CAP_FILE_SIZE,53283,0
$CFSIZE,260034560,246239232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047,170.0,1
$GPS,190714,010206,4726.013,-12222.537,13,1.4,30,18.1