version: 66.12
glider: 124
mission: 17
dive: 186
start: 7 20 114 17 36 33
data:
$ID,124
$MISSION,17
$DIVE,186
$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,-309287
$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,28
$R_STBD_OVSHOOT,33
$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
$GPS1,200714,172915,4726.309,-12222.683,13,3.1,33,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-66.5
$GPS2,200714,173527,4726.333,-12222.683,12,3.2,32,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.112,0.266
$KALMAN_X,-13628.3,-165.4,3.3,11725.9,229.3
$KALMAN_Y,15591.5,100.5,-81.9,-12287.4,-248.9
$MHEAD_RNG_PITCHd_Wd,58.2,119,-26.4,-16.667,-30.00,1390
$D_GRID,179
$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,-161.4,93,1914,1535,1745,0.0,0.0,0,73,0.00,0.00,-50.20,0.000,16386,0.000,0.000,93,1914,2499,2487,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-1.77,-180.8,92,1914,2487,2512,3.1,-3.3,5,132,8.48,2.38,-35.28,0.000,18692,0.257,0.070,2021,3323,3602,3674,3531,0,0,0,0,0,0,25.28,25.97,26.62
$GC,238,-1.70,-180.8,2020,3323,3674,3533,35.3,-25.7,35,243,0.00,2.25,0.00,0.000,1030,0.000,0.046,2021,1915,3603,3674,3533,0,0,0,0,0,0,28.83,26.10,28.83
$GC,432,-1.63,-180.8,2021,1915,3674,3533,82.2,-23.8,55,438,0.12,2.30,0.00,0.000,2308,0.197,0.053,2056,3320,3603,3674,3533,0,0,0,0,0,0,26.06,26.07,28.83
$GC,481,-1.63,-180.8,2056,3320,3674,3533,91.9,-18.8,64,488,0.00,2.25,0.00,0.000,1030,0.000,0.046,2057,1913,3603,3674,3533,0,0,0,0,0,0,28.83,26.18,28.83
$GC,667,-1.63,-180.8,2056,1913,3673,3533,126.2,-18.6,83,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,1913,3603,3673,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,848,-1.63,-180.8,2056,1913,3673,3531,156.7,-17.1,101,854,0.00,2.17,0.00,0.000,516,0.000,0.054,2057,507,3602,3672,3533,0,0,0,0,0,0,28.83,26.17,28.83
$GC,886,-1.63,-180.8,2056,507,3672,3533,163.0,-16.6,107,891,0.00,2.22,0.00,0.000,1030,0.000,0.044,2056,1920,3602,3672,3533,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1081,-1.76,-180.8,2056,1920,3671,3534,175.3,0.1,127,1087,0.12,0.00,0.00,0.000,4102,0.106,0.000,2011,1920,3602,3671,3534,0,0,0,0,0,0,26.56,28.83,28.83
$STATE,1127,end dive,NO_VERTICAL_VELOCITY
$STATE,1127,begin apogee
$GC,1135,-0.47,0.0,2010,2006,3670,3534,175.4,0.0,132,1292,0.93,0.00,144.12,0.576,10246,0.126,0.000,2306,2006,2858,2765,2951,0,0,0,0,0,0,25.75,28.83,24.49
$STATE,1293,end apogee,CONTROL_FINISHED_OK
$STATE,1293,begin climb
$GC,1297,1.77,180.8,2306,2006,2764,2951,175.3,0.0,148,1453,1.58,0.00,148.25,0.549,10246,0.128,0.000,2795,2006,2122,1946,2298,0,0,0,0,0,0,25.18,28.83,24.36
$FREEZE,175.46,10.731,-1.774,0,1,0
$STATE,1459,end climb,NO_VERTICAL_VELOCITY
$STATE,1459,begin surface
$SM_CCo,1464,302.73,0.521,0,0,648,542.60
$SM_GC,1.66,7.50,0.20,0.00,0.062,0.076,0.000,92,1911,643,-10.60,0.76,544.08,0,0,0,0,0,0,25.98,26.25,28.83
$IRIDIUM_FIX,4707.04,-12222.91,230921,031956
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.86
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,19.60
$XPDR_PINGS,11
$SC_FREEKB,3948320
$24V_AH,24.36,12.516
$10V_AH,9.64,7.405
$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,18.725,13.900,292.375,302.725,0.000,0.000,0.000,185.100,4.750,0.000,33.045,390.092,1021.913,655.254,479.458,188.232,33.275,1046.763,0.000,265.455,0.000,16.006,0.000
$DEVICE_MAMPS,257.040,89.505,576.045,520.965,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1468.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.873,0.000,0.000,0.000
$MEM,203676
$DATA_FILE_SIZE,3514,165
$CAP_FILE_SIZE,41191,0
$CFSIZE,260034560,244404224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2748.74,0x239dd2,7,5
$CURRENT,0.040,327.2,1
$GPS,200714,181659,4726.403,-12222.504,32,1.7,36,18.1