version: 66.12
glider: 124
mission: 17
dive: 203
start: 7 21 114 7 7 40
data:
$ID,124
$MISSION,17
$DIVE,203
$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,-309420.44
$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,32
$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
$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
$GPS1,210714,070048,4726.494,-12222.316,11,2.0,28,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-69.2
$GPS2,210714,070636,4726.466,-12222.299,10,1.4,10,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.286,-0.042
$KALMAN_X,-13475.0,-60.0,-184.8,12131.9,89.1
$KALMAN_Y,14172.8,-97.0,-71.1,-10436.6,-161.3
$MHEAD_RNG_PITCHd_Wd,219.7,429,-26.4,-16.667,-30.00,1390
$D_GRID,150
$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,-161.4,90,1918,1534,1745,0.0,0.0,0,94,0.00,0.00,-70.45,0.000,16386,0.000,0.000,90,1919,2851,2880,2822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.77,-180.8,90,1919,2880,2823,3.5,-2.4,7,135,8.57,2.38,-19.83,0.000,19204,0.260,0.069,2020,3328,3602,3675,3530,0,0,0,0,0,0,25.27,25.99,26.61
$GC,367,-1.77,-180.8,2020,3327,3674,3533,63.3,-22.4,59,372,0.00,2.25,0.00,0.000,1030,0.000,0.045,2021,1917,3603,3674,3533,0,0,0,0,0,0,28.83,26.18,28.83
$GC,561,-1.77,-180.8,2020,1917,3672,3533,104.7,-20.9,79,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1917,3602,3672,3532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,742,-1.77,-180.8,2020,1917,3671,3533,141.3,-19.5,97,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1916,3601,3671,3532,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,789,begin apogee
$GC,797,-0.47,0.0,2020,2009,3671,3533,151.1,-19.4,102,947,0.93,0.00,141.68,0.563,10246,0.153,0.000,2302,2009,2860,2770,2950,0,0,0,0,0,0,25.58,28.83,24.49
$STATE,948,end apogee,CONTROL_FINISHED_OK
$STATE,948,begin climb
$GC,952,1.77,180.8,2302,2009,2768,2949,160.9,0.0,117,1108,1.45,2.38,145.30,0.538,10500,0.088,0.050,2793,3414,2120,1948,2292,0,0,0,0,0,0,25.29,25.15,24.40
$GC,1127,1.80,206.7,2793,3414,1949,2290,145.1,14.8,137,1159,0.00,2.33,21.85,0.519,9222,0.000,0.043,2803,1999,2014,1840,2188,0,0,0,0,0,0,28.83,25.39,24.48
$GC,1339,1.87,211.1,2803,1999,1841,2185,110.2,16.3,161,1350,0.00,2.28,3.20,0.350,8708,0.000,0.055,2813,581,2002,1833,2172,0,0,0,0,0,0,28.83,25.83,24.51
$GC,1375,1.88,217.3,2812,580,1836,2173,104.1,16.2,167,1391,0.00,2.28,8.35,0.493,9222,0.000,0.041,2813,2007,1971,1802,2141,0,0,0,0,0,0,28.83,25.94,24.82
$GC,1580,1.88,217.8,2812,2007,1802,2137,70.3,16.6,189,1585,0.00,2.20,0.00,0.000,260,0.000,0.052,2813,3413,1969,1802,2137,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1608,1.88,217.8,2813,3413,1804,2135,65.5,17.1,194,1615,0.00,2.28,0.00,0.000,1030,0.000,0.044,2823,1984,1970,1805,2135,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1795,1.97,233.4,2823,1984,1804,2134,35.8,15.5,213,1814,0.00,2.40,12.80,0.489,8452,0.000,0.052,2823,3420,1907,1742,2072,0,0,0,0,0,0,28.83,26.09,25.09
$GC,1882,2.04,238.8,2822,3420,1747,2071,22.2,16.3,227,1893,0.00,2.28,2.28,0.191,9222,0.000,0.044,2833,1984,1888,1726,2051,0,0,0,0,0,0,28.83,26.13,24.77
$STATE,2001,end climb,SURFACE_DEPTH_REACHED
$STATE,2001,begin surface coast
$FINISH,1.4,1.021486
$STATE,2010,end surface coast,CONTROL_FINISHED_OK
$STATE,2010,begin surface
$SM_CCo,2031,24.83,0.050,0,0,1637,300.25
$SM_GC,1.44,7.38,0.10,24.83,0.047,0.107,0.050,91,1915,1637,-10.60,0.82,300.25,0,0,0,0,0,0,26.06,26.39,26.17
$IRIDIUM_FIX,4654.38,-12218.79,230921,164717
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.35
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.50
$XPDR_PINGS,13
$SC_FREEKB,3941792
$24V_AH,24.40,13.561
$10V_AH,9.70,8.029
$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,18.325,23.325,335.450,24.825,0.000,0.000,0.000,181.450,4.750,0.000,11.627,521.852,698.305,429.355,568.643,202.587,33.279,865.783,0.000,378.655,0.000,13.004,0.000
$DEVICE_MAMPS,260.100,107.100,563.040,49.725,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2018.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.528,0.000,0.000,0.000
$MEM,203692
$DATA_FILE_SIZE,6830,241
$CAP_FILE_SIZE,46250,0
$CFSIZE,260034560,243814400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2978.25,0x239dd2,7,5
$CURRENT,0.043,290.7,1
$GPS,210714,074315,4726.407,-12222.722,14,2.1,34,18.1