version: 66.12
glider: 124
mission: 17
dive: 213
start: 7 21 114 15 17 7
data:
$ID,124
$MISSION,17
$DIVE,213
$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,-309432.94
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,210714,150633,4726.535,-12222.584,8,3.2,28,18.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-68.8
$GPS2,210714,151601,4726.550,-12222.594,14,1.6,14,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.091,-3.521
$KALMAN_X,-14443.2,-226.1,-111.8,12833.9,-145.4
$KALMAN_Y,15936.4,295.1,365.3,-12880.0,177.1
$MHEAD_RNG_PITCHd_Wd,153.5,385,-26.4,-16.667,-30.00,1390
$D_GRID,133
$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,-161.4,92,1911,1530,1751,0.0,0.0,0,94,0.00,0.00,-70.07,0.000,16386,0.000,0.000,92,1911,2825,2852,2798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.77,-180.8,92,1911,2852,2799,3.3,-2.1,7,136,8.50,0.00,-22.00,0.000,18694,0.256,0.000,2020,1874,3600,3673,3528,0,0,0,0,0,0,25.19,28.83,26.55
$GC,316,-1.68,-180.8,2020,1874,3672,3530,53.3,-22.6,32,321,0.10,2.33,0.00,0.000,2308,0.226,0.053,2041,3338,3601,3672,3530,0,0,0,0,0,0,26.11,26.01,28.83
$GC,416,-1.68,-180.8,2041,3339,3672,3530,74.0,-18.8,51,423,0.00,2.28,0.00,0.000,1030,0.000,0.047,2041,1915,3601,3672,3530,0,0,0,0,0,0,28.83,26.15,28.83
$GC,603,-1.68,-180.8,2042,1915,3670,3530,108.0,-18.3,70,609,0.00,2.20,0.00,0.000,516,0.000,0.055,2041,503,3600,3670,3530,0,0,0,0,0,0,28.83,26.13,28.83
$GC,652,-1.68,-180.8,2042,503,3670,3530,117.9,-20.3,79,658,0.00,2.25,0.00,0.000,1030,0.000,0.044,2042,1932,3599,3669,3530,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,734,begin apogee
$GC,745,-0.47,0.0,2041,2004,3669,3530,134.3,-19.0,88,899,0.85,0.00,142.10,0.556,10246,0.143,0.000,2303,2005,2858,2769,2948,0,0,0,0,0,0,25.63,28.83,24.47
$STATE,901,end apogee,CONTROL_FINISHED_OK
$STATE,901,begin climb
$GC,904,1.77,180.8,2302,2005,2769,2948,143.8,0.0,104,1057,1.45,2.35,142.15,0.532,11012,0.090,0.052,2792,3434,2121,1950,2292,0,0,0,0,0,0,25.29,25.16,24.39
$GC,1087,1.81,217.6,2792,3434,1950,2290,126.2,14.0,138,1129,0.00,2.38,30.38,0.515,9222,0.000,0.044,2802,1985,1972,1796,2148,0,0,0,0,0,0,28.83,25.44,24.47
$GC,1309,1.90,221.5,2802,1985,1804,2148,87.7,16.4,164,1321,0.00,2.22,4.55,0.426,8708,0.000,0.052,2811,582,1959,1788,2130,0,0,0,0,0,0,28.83,25.84,24.59
$GC,1402,1.98,221.5,2811,582,1793,2131,71.9,17.0,181,1410,0.10,2.25,0.00,0.000,3078,0.101,0.041,2856,2003,1961,1793,2130,0,0,0,0,0,0,25.97,25.99,28.83
$GC,1588,1.98,221.5,2856,2003,1793,2130,37.2,17.5,200,1594,0.00,2.20,0.00,0.000,260,0.000,0.051,2856,3413,1962,1794,2131,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1666,1.98,221.5,2856,3413,1794,2128,23.4,17.1,215,1673,0.12,2.25,0.00,0.000,5126,0.158,0.044,2835,2000,1962,1795,2129,0,0,0,0,0,0,25.93,26.15,28.83
$STATE,1819,end climb,SURFACE_DEPTH_REACHED
$STATE,1819,begin surface coast
$FINISH,0.9,1.000291
$STATE,1840,end surface coast,CONTROL_FINISHED_OK
$STATE,1841,begin surface
$SM_CCo,1861,31.70,0.049,0,0,1639,300.00
$SM_GC,1.43,7.38,0.12,31.70,0.048,0.093,0.049,94,1914,1639,-10.59,0.79,300.00,0,0,0,0,0,0,26.08,26.42,26.19
$IRIDIUM_FIX,4703.87,-12221.20,240921,014248
$TT8_MAMPS,0.028462,0.028462
$HUMID,64.76
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.50
$XPDR_PINGS,11
$SC_FREEKB,3937952
$24V_AH,24.39,14.199
$10V_AH,9.37,8.405
$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,18.500,22.925,319.175,31.700,0.000,0.000,0.000,336.100,3.500,0.000,15.384,478.727,683.353,404.505,693.185,219.488,33.282,1002.789,0.000,360.734,0.000,7.049,0.000
$DEVICE_MAMPS,256.275,111.690,556.155,48.960,0.000,0.000,0.000,129.285,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1851.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,25.672,0.000,0.000,0.000
$MEM,203692
$DATA_FILE_SIZE,6828,233
$CAP_FILE_SIZE,46039,0
$CFSIZE,260034560,243453952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3090.53,0x239dd2,7,5
$CURRENT,0.045,148.8,1
$GPS,210714,154954,4726.246,-12222.538,11,1.0,28,18.1