version: 66.12
glider: 124
mission: 17
dive: 165
start: 7 20 114 0 44 36
data:
$ID,124
$MISSION,17
$DIVE,165
$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,-309260.75
$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,25
$R_STBD_OVSHOOT,25
$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
$GPS1,200714,003649,4725.304,-12221.944,13,1.8,13,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-64.6
$GPS2,200714,004331,4725.341,-12221.913,13,1.7,13,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.156,0.261
$KALMAN_X,-13837.2,32.0,-232.4,12936.5,50.6
$KALMAN_Y,15730.1,44.5,183.4,-14471.2,59.4
$MHEAD_RNG_PITCHd_Wd,319.6,2039,-25.0,-16.667,-28.75,1541
$D_GRID,177
$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,-180.8,86,1920,1533,1744,0.0,0.0,0,102,0.00,0.00,-79.88,0.000,16386,0.000,0.000,87,1920,2958,3001,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,86,1920,3001,2916,3.4,-2.1,8,141,8.60,2.25,-16.77,0.000,18948,0.257,0.065,2038,501,3600,3670,3530,0,0,0,0,0,0,25.23,25.98,26.55
$GC,367,-1.55,-180.8,2038,502,3669,3530,64.9,-22.0,58,373,0.12,2.25,0.00,0.000,3078,0.194,0.044,2067,1930,3601,3671,3531,0,0,0,0,0,0,25.82,26.15,28.83
$GC,563,-1.55,-180.8,2067,1931,3671,3531,102.4,-18.6,78,568,0.00,2.17,0.00,0.000,260,0.000,0.053,2067,3331,3601,3671,3531,0,0,0,0,0,0,28.83,26.13,28.83
$GC,601,-1.55,-180.8,2067,3331,3671,3531,109.4,-16.9,85,608,0.00,2.25,0.00,0.000,1030,0.000,0.044,2068,1913,3601,3671,3531,0,0,0,0,0,0,28.83,26.24,28.83
$GC,788,-1.55,-180.8,2067,1913,3671,3531,141.3,-17.2,104,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,1913,3601,3671,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,977,-1.55,-180.8,2067,1913,3670,3531,172.9,-17.2,123,982,0.00,2.17,0.00,0.000,516,0.000,0.054,2068,505,3600,3670,3531,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,998,begin apogee
$GC,1008,-0.47,0.0,2068,2004,3670,3531,177.2,-18.1,127,1162,0.75,0.00,142.90,0.582,10246,0.142,0.000,2303,2005,2859,2767,2951,0,0,0,0,0,0,25.67,28.83,24.45
$STATE,1164,end apogee,CONTROL_FINISHED_OK
$STATE,1164,begin climb
$GC,1167,1.69,180.8,2303,2005,2766,2951,187.5,0.0,143,1323,1.40,0.00,147.45,0.558,10246,0.091,0.000,2774,2006,2121,1946,2296,0,0,0,0,0,0,25.27,28.83,24.34
$GC,1505,1.78,204.3,2774,2006,1945,2283,150.1,15.1,177,1534,0.10,2.35,19.10,0.526,10756,0.098,0.054,2834,583,2027,1858,2196,0,0,0,0,0,0,26.01,25.67,24.75
$GC,1567,1.78,204.3,2833,583,1858,2195,138.6,19.1,188,1574,0.15,2.28,0.00,0.000,5126,0.145,0.042,2795,2002,2026,1857,2195,0,0,0,0,0,0,25.58,25.80,28.83
$GC,1753,1.78,205.6,2794,2002,1856,2190,108.2,16.6,207,1758,0.00,2.22,0.00,0.000,260,0.000,0.053,2795,3419,2023,1857,2190,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1797,1.78,205.6,2794,3419,1857,2188,100.6,17.2,215,1803,0.00,2.28,0.00,0.000,1030,0.000,0.045,2803,1996,2023,1858,2188,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1992,1.80,226.6,2803,1995,1857,2188,69.8,15.3,235,2018,0.00,2.30,19.65,0.503,8452,0.000,0.052,2803,3410,1934,1769,2099,0,0,0,0,0,0,28.83,26.02,25.10
$GC,2037,1.82,243.7,2803,3410,1770,2099,62.7,15.5,243,2059,0.00,2.28,15.27,0.490,9222,0.000,0.044,2813,1984,1866,1699,2033,0,0,0,0,0,0,28.83,26.03,24.99
$GC,2238,1.93,271.2,2815,1984,1699,2028,30.5,14.8,265,2266,0.00,2.22,19.17,0.480,8708,0.000,0.057,2823,591,1754,1595,1914,0,0,0,0,0,0,28.83,25.91,25.05
$GC,2280,2.02,278.5,2823,591,1595,1914,23.9,16.2,272,2293,0.10,2.25,3.33,0.320,11270,0.103,0.042,2867,2004,1726,1569,1883,0,0,0,0,0,0,25.96,25.98,24.84
$STATE,2398,end climb,SURFACE_DEPTH_REACHED
$STATE,2398,begin surface coast
$FINISH,0.9,1.021732
$STATE,2410,end surface coast,CONTROL_FINISHED_OK
$STATE,2410,begin surface
$SM_CCo,2430,8.55,0.049,0,0,1638,300.00
$SM_GC,2.96,7.45,0.20,8.55,0.043,0.083,0.049,90,1914,1638,-10.59,0.76,300.00,0,0,0,0,0,0,26.01,26.12,26.04
$IRIDIUM_FIX,4713.38,-12226.32,220921,102623
$TT8_MAMPS,0.029211,0.029211
$HUMID,65.43
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,12
$SC_FREEKB,3956384
$24V_AH,24.34,11.202
$10V_AH,9.27,6.632
$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,18.675,31.900,366.875,8.550,0.000,0.000,0.000,234.500,5.000,0.000,14.414,618.242,881.778,450.166,674.114,234.146,33.285,982.241,0.000,441.943,0.000,18.583,0.000
$DEVICE_MAMPS,257.040,82.620,582.165,48.960,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2419.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.781,0.000,0.000,0.000
$MEM,203972
$DATA_FILE_SIZE,10139,286
$CAP_FILE_SIZE,54281,0
$CFSIZE,260034560,245129216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2821.20,0x239dd2,7,5
$CURRENT,0.032,201.9,1
$GPS,200714,012633,4725.614,-12222.130,12,2.7,32,18.1