version: 66.12
glider: 124
mission: 17
dive: 157
start: 7 19 114 18 20 19
data:
$ID,124
$MISSION,17
$DIVE,157
$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,-309250.75
$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
$GPS1,190714,181333,4726.397,-12222.581,8,3.4,28,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-68.3
$GPS2,190714,181913,4726.409,-12222.635,15,1.5,15,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.225,-0.181
$KALMAN_X,-13526.2,22.1,411.4,11096.6,-250.1
$KALMAN_Y,14926.4,171.9,-179.0,-11459.8,120.9
$MHEAD_RNG_PITCHd_Wd,116.7,136,-26.4,-16.667,-30.00,1390
$D_GRID,183
$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,-161.4,96,1915,1535,1745,0.0,0.0,0,94,0.00,0.00,-70.12,0.000,16386,0.000,0.000,93,1916,2832,2858,2806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.77,-180.8,93,1916,2858,2806,3.4,-2.1,7,136,8.52,2.25,-20.62,0.000,18948,0.260,0.070,2022,503,3601,3677,3526,0,0,0,0,0,0,25.29,25.97,26.55
$GC,367,-1.66,-180.8,2020,503,3678,3527,67.5,-22.9,59,373,0.12,2.25,0.00,0.000,3078,0.202,0.046,2049,1916,3602,3677,3527,0,0,0,0,0,0,25.80,26.14,28.83
$GC,562,-1.66,-180.8,2048,1916,3677,3527,106.4,-18.4,79,567,0.00,2.28,0.00,0.000,516,0.000,0.055,2049,504,3602,3677,3527,0,0,0,0,0,0,28.83,26.11,28.83
$GC,660,-1.66,-180.8,2049,504,3676,3528,124.6,-20.0,97,666,0.00,2.25,0.00,0.000,1030,0.000,0.046,2049,1923,3603,3676,3530,0,0,0,0,0,0,28.83,26.21,28.83
$GC,855,-1.66,-180.8,2049,1923,3676,3528,163.0,-18.8,117,861,0.00,2.20,0.00,0.000,260,0.000,0.057,2049,3327,3602,3676,3528,0,0,0,0,0,0,28.83,26.15,28.83
$GC,900,-1.73,-180.8,2049,3328,3675,3528,171.0,-17.1,125,907,0.00,2.25,0.00,0.000,1030,0.000,0.047,2049,1914,3601,3675,3528,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,962,begin apogee
$GC,971,-0.47,0.0,2049,2007,3675,3528,183.1,-18.6,132,1120,0.80,0.00,142.65,0.590,10246,0.141,0.000,2301,2007,2860,2771,2950,0,0,0,0,0,0,25.70,28.83,24.41
$STATE,1122,end apogee,CONTROL_FINISHED_OK
$STATE,1122,begin climb
$GC,1125,1.77,180.8,2300,2007,2769,2949,193.4,0.0,147,1287,1.48,2.38,147.05,0.566,10500,0.093,0.054,2793,3403,2120,1952,2289,0,0,0,0,0,0,25.24,25.09,24.32
$GC,1312,1.79,193.5,2792,3403,1952,2283,177.4,15.7,182,1333,0.00,2.33,11.18,0.516,9222,0.000,0.045,2802,1991,2068,1900,2237,0,0,0,0,0,0,28.83,25.37,24.45
$GC,1512,1.79,193.5,2802,1991,1900,2230,143.8,17.6,204,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1991,2065,1900,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1692,1.79,193.5,2802,1991,1900,2228,112.6,17.1,222,1697,0.00,2.30,0.00,0.000,260,0.000,0.054,2802,3405,2064,1901,2228,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1737,1.79,193.5,2802,3404,1901,2225,104.8,17.8,230,1742,0.00,2.25,0.00,0.000,1030,0.000,0.045,2811,2002,2063,1901,2225,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1932,1.81,215.6,2812,2002,1901,2225,72.5,15.0,250,1958,0.00,2.30,18.45,0.514,8708,0.000,0.056,2822,590,1980,1818,2142,0,0,0,0,0,0,28.83,26.03,25.12
$GC,2027,1.82,223.3,2821,590,1819,2142,57.7,16.1,268,2039,0.00,2.25,7.62,0.472,9222,0.000,0.044,2822,2005,1950,1789,2111,0,0,0,0,0,0,28.83,26.10,25.01
$GC,2219,1.90,224.6,2821,2005,1789,2105,24.7,16.6,288,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2004,1947,1789,2106,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2365,end climb,SURFACE_DEPTH_REACHED
$STATE,2368,begin surface coast
$FINISH,0.9,1.001144
$STATE,2386,end surface coast,CONTROL_FINISHED_OK
$STATE,2386,begin surface
$SM_CCo,2407,30.80,0.047,0,0,1638,300.00
$SM_GC,1.89,7.32,0.20,30.80,0.047,0.073,0.047,94,1915,1638,-10.58,0.74,300.00,0,0,0,0,0,0,26.13,26.34,26.19
$IRIDIUM_FIX,4710.21,-12217.53,220921,041138
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.43
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,161.2,32.8
$SC_FREEKB,3959456
$24V_AH,24.32,10.697
$10V_AH,9.64,6.335
$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,18.250,27.675,326.950,30.800,0.000,0.000,0.000,173.825,5.250,0.000,16.379,640.347,870.954,409.343,663.642,214.205,33.271,895.347,0.000,469.305,0.000,17.586,0.000
$DEVICE_MAMPS,260.100,72.675,589.815,47.430,0.000,0.000,0.000,113.985,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2395.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.865,0.000,0.000,0.000
$MEM,203676
$DATA_FILE_SIZE,10122,305
$CAP_FILE_SIZE,53002,0
$CFSIZE,260034560,245428224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2258.64,0x239dd2,7,5
$CURRENT,0.129,284.4,1
$GPS,190714,190155,4726.283,-12222.487,12,1.6,12,18.1