version: 66.12
glider: 124
mission: 17
dive: 219
start: 7 21 114 19 55 23
data:
$ID,124
$MISSION,17
$DIVE,219
$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,-309440.44
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,210714,194813,4726.255,-12222.880,9,1.3,9,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-69.6
$GPS2,210714,195418,4726.187,-12222.771,16,2.0,33,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.022,0.288
$KALMAN_X,-13690.1,-46.6,-26.2,11586.4,184.9
$KALMAN_Y,19954.3,1338.1,665.5,-18899.3,-305.1
$MHEAD_RNG_PITCHd_Wd,4.6,368,-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,-161.4,91,1916,1426,1692,0.0,0.0,0,103,0.00,0.00,-79.72,0.000,16386,0.000,0.000,91,1918,2870,2906,2834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.77,-180.8,91,1916,2908,2836,3.1,-1.5,8,146,8.55,2.28,-20.95,0.000,18948,0.259,0.068,2020,508,3602,3674,3531,0,0,0,0,0,0,25.24,26.04,26.65
$GC,292,-1.65,-180.8,2020,508,3675,3531,45.6,-25.7,43,299,0.12,2.22,0.00,0.000,3078,0.207,0.043,2049,1915,3603,3675,3531,0,0,0,0,0,0,25.79,26.18,28.83
$GC,479,-1.65,-180.8,2049,1915,3674,3531,83.2,-19.3,62,484,0.00,2.28,0.00,0.000,516,0.000,0.054,2049,503,3603,3675,3531,0,0,0,0,0,0,28.83,26.13,28.83
$GC,524,-1.65,-180.8,2049,503,3674,3531,92.0,-20.3,70,529,0.00,2.25,0.00,0.000,1030,0.000,0.044,2050,1921,3602,3673,3531,0,0,0,0,0,0,28.83,26.22,28.83
$GC,719,-1.65,-180.8,2049,1922,3673,3531,127.7,-18.3,90,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,1922,3602,3673,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,901,-1.65,-180.8,2049,1922,3672,3531,160.6,-18.1,108,907,0.00,2.20,0.00,0.000,260,0.000,0.054,2049,3333,3601,3672,3531,0,0,0,0,0,0,28.83,26.18,28.83
$GC,965,-1.65,-180.8,2049,3333,3672,3531,173.2,-18.6,120,971,0.00,2.25,0.00,0.000,1030,0.000,0.045,2049,1913,3601,3672,3531,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,996,begin apogee
$GC,1005,-0.47,0.0,2049,2008,3672,3531,179.7,-19.4,124,1161,0.80,0.00,143.90,0.583,10246,0.140,0.000,2301,2009,2859,2767,2951,0,0,0,0,0,0,25.68,28.83,24.43
$STATE,1162,end apogee,CONTROL_FINISHED_OK
$STATE,1162,begin climb
$GC,1166,1.77,180.8,2301,2009,2766,2950,190.6,0.0,140,1322,1.48,2.38,146.20,0.555,10500,0.090,0.051,2798,3412,2120,1942,2298,0,0,0,0,0,0,25.28,25.14,24.34
$GC,1356,1.77,180.8,2797,3411,1943,2296,173.5,16.8,176,1362,0.00,2.33,0.00,0.000,1030,0.000,0.044,2808,1994,2119,1943,2296,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1551,1.80,208.5,2808,1994,1944,2293,142.8,14.6,196,1580,0.00,2.33,22.92,0.527,8708,0.000,0.056,2818,591,2008,1834,2183,0,0,0,0,0,0,28.83,25.72,24.79
$GC,1599,1.80,209.6,2818,591,1833,2181,135.2,16.6,202,1606,0.00,2.25,0.00,0.000,1030,0.000,0.041,2818,2003,2007,1834,2181,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1784,1.80,209.6,2818,2003,1834,2179,101.4,17.9,221,1791,0.00,2.20,0.00,0.000,260,0.000,0.051,2818,3410,2006,1834,2178,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1870,1.80,209.6,2818,3410,1836,2176,86.4,16.9,237,1877,0.12,2.25,0.00,0.000,5126,0.161,0.044,2797,2004,2006,1836,2176,0,0,0,0,0,0,25.85,26.07,28.83
$GC,2067,1.93,233.4,2797,2004,1836,2176,56.0,14.9,257,2095,0.12,2.30,21.08,0.500,10756,0.090,0.054,2867,590,1907,1737,2077,0,0,0,0,0,0,26.40,26.02,25.08
$GC,2141,1.93,233.4,2866,590,1743,2077,42.6,20.4,270,2149,0.15,2.25,0.00,0.000,5126,0.145,0.041,2827,2001,1910,1743,2077,0,0,0,0,0,0,25.83,26.08,28.83
$GC,2328,2.00,233.4,2827,2002,1744,2077,9.1,17.1,289,2334,0.00,2.20,0.00,0.000,260,0.000,0.051,2826,3416,1910,1744,2077,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2368,2.10,250.0,2826,3415,1744,2077,3.0,15.5,296,2376,0.12,2.28,2.88,0.048,11266,0.090,0.044,2888,1982,1882,1714,2050,0,0,0,0,0,0,26.16,26.17,28.83
$STATE,2377,end climb,SURFACE_DEPTH_REACHED
$STATE,2377,begin surface coast
$FINISH,0.8,1.005018
$STATE,2388,end surface coast,CONTROL_FINISHED_OK
$STATE,2388,begin surface
$SM_CCo,2410,23.95,0.050,0,0,1639,300.00
$SM_GC,1.45,7.55,0.10,23.95,0.050,0.103,0.050,96,1913,1639,-10.58,0.74,300.00,0,0,0,0,0,0,26.04,26.41,26.15
$IRIDIUM_FIX,4713.38,-12219.23,240921,053535
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.59
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,13
$SC_FREEKB,3935648
$24V_AH,24.34,14.560
$10V_AH,9.19,8.626
$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,19.025,36.525,336.975,23.950,0.000,0.000,0.000,174.150,5.000,0.000,34.492,632.477,860.302,428.728,671.732,222.727,33.279,919.716,0.000,462.700,0.000,13.375,0.000
$DEVICE_MAMPS,259.335,102.510,582.930,49.725,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2399.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.115,0.000,0.000,0.000
$MEM,203720
$DATA_FILE_SIZE,10137,299
$CAP_FILE_SIZE,55973,0
$CFSIZE,260034560,243228672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2950.57,0x239dd2,7,5
$CURRENT,0.024,243.2,1
$GPS,210714,203715,4726.507,-12222.642,12,4.0,32,18.1