version: 66.12
glider: 124
mission: 17
dive: 142
start: 7 19 114 6 39 35
data:
$ID,124
$MISSION,17
$DIVE,142
$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,-309232
$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,30
$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
$GPS1,190714,063224,4726.421,-12222.800,11,1.6,28,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-66.7
$GPS2,190714,063830,4726.461,-12222.899,15,1.9,33,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.223,-0.183
$KALMAN_X,-12162.0,-25.7,220.8,9637.6,-38.1
$KALMAN_Y,13217.9,13.6,-105.1,-9571.1,129.0
$MHEAD_RNG_PITCHd_Wd,95.4,447,-25.0,-16.667,-28.75,1541
$D_GRID,161
$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,-180.8,96,1911,1528,1760,0.0,0.0,0,102,0.00,0.00,-79.62,0.000,16386,0.000,0.000,96,1911,3019,3061,2977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,96,1911,3061,2977,3.7,-2.6,8,140,8.65,2.38,-14.45,0.000,18692,0.261,0.070,2040,3322,3602,3669,3535,0,0,0,0,0,0,25.25,25.96,26.57
$GC,195,-1.57,-180.8,2040,3322,3669,3536,23.2,-22.7,24,201,0.12,2.25,0.00,0.000,3078,0.179,0.048,2071,1925,3603,3669,3537,0,0,0,0,0,0,25.76,26.06,28.83
$GC,390,-1.57,-180.8,2071,1925,3669,3537,65.0,-18.3,44,391,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,1925,3603,3669,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,570,-1.57,-180.8,2070,1925,3669,3537,97.9,-17.3,62,575,0.00,2.22,0.00,0.000,516,0.000,0.056,2071,503,3603,3669,3537,0,0,0,0,0,0,28.83,26.12,28.83
$GC,624,-1.57,-180.8,2071,503,3668,3537,107.2,-16.8,72,630,0.00,2.25,0.00,0.000,1030,0.000,0.047,2071,1925,3602,3668,3537,0,0,0,0,0,0,28.83,26.20,28.83
$GC,819,-1.57,-180.8,2071,1925,3668,3537,137.4,-16.9,92,824,0.00,2.20,0.00,0.000,260,0.000,0.057,2070,3329,3602,3668,3537,0,0,0,0,0,0,28.83,26.12,28.83
$GC,867,-1.57,-180.8,2070,3329,3668,3537,146.2,-18.6,101,874,0.00,2.25,0.00,0.000,1030,0.000,0.047,2070,1917,3602,3668,3537,0,0,0,0,0,0,28.83,26.24,28.83
$STATE,930,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,930,begin apogee
$GC,938,-0.47,0.0,2070,2008,3668,3537,160.3,-22.6,108,1094,0.75,0.08,143.23,0.568,10246,0.136,0.127,2306,1997,2858,2756,2961,0,0,0,0,0,0,25.69,25.13,24.48
$STATE,1095,end apogee,CONTROL_FINISHED_OK
$STATE,1096,begin climb
$GC,1099,1.69,180.8,2306,1997,2754,2961,170.0,0.0,124,1253,1.42,1.35,146.38,0.549,10755,0.096,0.053,2776,1196,2120,1931,2310,0,0,0,0,0,0,25.25,28.83,24.36
$FREEZE,169.73,10.990,-1.757,0,1,0
$STATE,1255,end climb,NO_VERTICAL_VELOCITY
$STATE,1255,begin surface
$SM_CCo,1260,299.27,0.530,0,0,647,542.60
$SM_GC,1.62,7.35,1.23,0.00,0.057,0.044,0.000,94,1942,641,-10.58,-0.65,544.81,0,0,0,0,0,0,26.13,26.21,28.83
$IRIDIUM_FIX,4707.04,-12222.91,210921,162747
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.14
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,20.00
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,130.5,39.6
$SC_FREEKB,3965216
$24V_AH,24.36,9.752
$10V_AH,9.87,5.799
$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,18.300,16.400,289.600,299.275,0.000,0.000,0.000,181.475,3.750,0.000,34.718,337.575,1048.744,634.398,455.314,177.778,33.270,1030.909,0.000,242.743,0.000,7.110,0.000
$DEVICE_MAMPS,260.865,126.990,568.395,530.145,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1264.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.675,0.000,0.000,0.000
$MEM,203696
$DATA_FILE_SIZE,3485,154
$CAP_FILE_SIZE,38704,0
$CFSIZE,260034560,245981184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2482.10,0x239dd2,7,5
$CURRENT,0.203,300.3,1
$GPS,190714,071839,4726.510,-12223.002,10,2.2,30,18.1