version: 66.12
glider: 124
mission: 17
dive: 214
start: 7 21 114 15 56 37
data:
$ID,124
$MISSION,17
$DIVE,214
$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,-309434.19
$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,29
$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
$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
$GPS1,210714,154954,4726.246,-12222.538,11,1.0,28,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-69.1
$GPS2,210714,155530,4726.233,-12222.469,11,1.4,16,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.049,-0.300
$KALMAN_X,-14414.6,-219.7,-167.3,13001.5,-102.7
$KALMAN_Y,19299.4,791.9,705.7,-17759.9,1064.2
$MHEAD_RNG_PITCHd_Wd,306.2,253,-26.4,-16.667,-30.00,1390
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.75,-161.4,94,1914,1530,1763,0.0,0.0,0,94,0.00,0.00,-70.47,0.000,16386,0.000,0.000,94,1914,2852,2881,2824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.77,-180.8,94,1914,2881,2824,3.5,-2.1,7,136,8.52,2.22,-20.83,0.000,18948,0.258,0.069,2022,511,3601,3675,3528,0,0,0,0,0,0,25.22,26.03,26.63
$GC,242,-1.63,-180.8,2022,511,3676,3530,36.1,-25.2,34,249,0.12,2.25,0.00,0.000,3078,0.199,0.044,2051,1934,3603,3676,3530,0,0,0,0,0,0,25.79,26.14,28.83
$GC,428,-1.63,-180.8,2051,1934,3676,3530,74.8,-19.8,53,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1934,3603,3676,3530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,608,-1.63,-180.8,2051,1934,3675,3530,108.0,-18.6,71,613,0.00,2.17,0.00,0.000,260,0.000,0.054,2051,3332,3602,3675,3530,0,0,0,0,0,0,28.83,26.14,28.83
$GC,705,-1.63,-180.8,2051,3332,3675,3530,124.8,-19.2,89,712,0.00,2.22,0.00,0.000,1030,0.000,0.046,2051,1917,3603,3676,3530,0,0,0,0,0,0,28.83,26.26,28.83
$GC,902,-1.63,-180.8,2051,1919,3675,3530,161.7,-19.4,109,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1917,3602,3675,3530,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,978,begin apogee
$GC,986,-0.47,0.0,2051,2010,3675,3530,177.1,-18.9,117,1141,0.80,0.00,143.75,0.583,10246,0.141,0.000,2302,2010,2858,2767,2950,0,0,0,0,0,0,25.67,28.83,24.43
$STATE,1143,end apogee,CONTROL_FINISHED_OK
$STATE,1143,begin climb
$GC,1146,1.77,180.8,2302,2010,2766,2950,186.7,0.0,133,1303,1.45,0.00,145.27,0.552,10502,0.088,0.000,2791,2010,2119,1944,2294,0,0,0,0,0,0,25.29,28.83,24.34
$GC,1482,1.78,187.5,2791,2010,1944,2291,144.6,16.2,174,1494,0.00,2.22,4.85,0.453,8452,0.000,0.051,2790,3409,2098,1929,2268,0,0,0,0,0,0,28.83,25.82,24.58
$GC,1538,1.79,198.2,2791,3409,1931,2267,135.1,15.9,184,1555,0.00,2.30,11.25,0.522,9222,0.000,0.045,2799,1997,2052,1881,2223,0,0,0,0,0,0,28.83,25.88,24.77
$GC,1745,1.86,209.8,2800,1998,1887,2221,102.9,15.8,206,1762,0.00,0.00,11.57,0.513,8198,0.000,0.000,2799,1997,2003,1835,2172,0,0,0,0,0,0,28.83,28.83,24.91
$GC,1945,1.98,238.9,2799,1997,1837,2171,72.7,14.5,226,1973,0.15,0.00,24.83,0.521,10246,0.079,0.000,2863,1997,1885,1717,2053,0,0,0,0,0,0,26.29,28.83,24.96
$GC,2154,1.98,238.9,2863,1997,1717,2051,30.5,20.2,247,2160,0.10,2.22,0.00,0.000,4612,0.161,0.054,2849,591,1884,1717,2051,0,0,0,0,0,0,26.14,26.00,28.83
$GC,2189,1.98,238.9,2848,591,1717,2051,23.3,20.4,253,2195,0.00,2.22,0.00,0.000,1030,0.000,0.042,2848,2001,1884,1717,2051,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,2310,end climb,SURFACE_DEPTH_REACHED
$STATE,2310,begin surface coast
$FINISH,0.8,1.010312
$STATE,2331,end surface coast,CONTROL_FINISHED_OK
$STATE,2332,begin surface
$SM_CCo,2352,24.05,0.049,0,0,1639,300.00
$SM_GC,1.53,7.43,0.20,24.05,0.048,0.070,0.049,95,1910,1639,-10.58,0.59,300.00,0,0,0,0,0,0,26.03,26.32,26.15
$IRIDIUM_FIX,4703.87,-12235.34,240921,014713
$TT8_MAMPS,0.027713,0.027713
$HUMID,65.43
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.40
$XPDR_PINGS,11
$SC_FREEKB,3937568
$24V_AH,24.34,14.259
$10V_AH,9.24,8.441
$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,18.575,18.250,341.525,24.050,0.000,0.000,0.000,163.425,4.250,0.000,17.222,587.233,913.146,425.725,596.419,210.291,33.277,868.365,0.000,419.188,0.000,10.511,0.000
$DEVICE_MAMPS,257.805,70.380,582.930,48.960,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2342.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.221,0.000,0.000,0.000
$MEM,203664
$DATA_FILE_SIZE,10096,268
$CAP_FILE_SIZE,49698,0
$CFSIZE,260034560,243412992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2368.72,0x239dd2,7,5
$CURRENT,0.068,146.9,1
$GPS,210714,163707,4726.443,-12222.704,8,1.5,8,18.1