version: 66.12
glider: 124
mission: 17
dive: 224
start: 7 22 114 4 19 1
data:
$ID,124
$MISSION,17
$DIVE,224
$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,4
$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,-310283.59
$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,29
$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,48
$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
$GPS1,220714,040231,4725.968,-12222.862,11,1.5,11,18.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-68.0
$GPS2,220714,041754,4726.068,-12222.887,15,1.2,32,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,600.000
$KALMAN_CONTROL,0.163,0.238
$KALMAN_X,-14537.6,-138.3,-45.5,12399.5,32.0
$KALMAN_Y,19632.3,416.2,12.2,-17230.0,9.9
$MHEAD_RNG_PITCHd_Wd,13.0,631,-25.7,-16.667,-29.36,1464
$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,-1.72,-170.9,93,1906,1545,1738,0.0,0.0,0,94,0.00,0.00,-70.80,0.000,16386,0.000,0.000,93,1906,2861,2894,2829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-1.73,-180.8,93,1906,2894,2830,3.2,-1.9,7,136,8.55,2.28,-19.88,0.000,19204,0.256,0.067,2031,512,3601,3675,3528,0,0,0,0,0,0,25.16,25.95,26.54
$GC,145,-1.53,-180.8,2030,511,3675,3528,11.9,-18.8,15,151,0.17,2.25,0.00,0.000,3078,0.200,0.044,2074,1932,3601,3675,3528,0,0,0,0,0,0,25.53,26.02,28.83
$GC,340,-1.53,-180.8,2074,1933,3674,3529,54.1,-20.2,35,345,0.00,2.17,0.00,0.000,260,0.000,0.054,2073,3322,3601,3672,3530,0,0,0,0,0,0,28.83,26.01,28.83
$GC,578,-1.60,-180.8,2074,3322,3671,3529,94.9,-16.3,81,584,0.00,2.22,0.00,0.000,1030,0.000,0.044,2074,1917,3600,3671,3530,0,0,0,0,0,0,28.83,26.21,28.83
$GC,774,-1.60,-180.8,2074,1917,3669,3530,128.6,-16.3,101,780,0.00,2.25,0.00,0.000,260,0.000,0.054,2074,3320,3599,3669,3530,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1011,-1.69,-180.8,2074,3320,3669,3530,167.6,-17.3,146,1018,0.12,2.22,0.00,0.000,5126,0.103,0.044,2026,1913,3599,3669,3530,0,0,0,0,0,0,26.25,26.31,28.83
$STATE,1064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1064,begin apogee
$GC,1072,-0.47,0.0,2026,2009,3668,3530,178.1,-19.1,152,1221,0.90,0.00,141.65,0.582,10246,0.142,0.000,2305,2008,2860,2771,2949,0,0,0,0,0,0,25.61,28.83,24.49
$STATE,1223,end apogee,CONTROL_FINISHED_OK
$STATE,1223,begin climb
$GC,1226,1.73,180.8,2305,2009,2769,2949,186.1,0.0,167,1378,1.40,2.33,141.27,0.556,10500,0.077,0.051,2792,3400,2120,1960,2280,0,0,0,0,0,0,25.36,25.21,24.41
$GC,1520,1.75,195.6,2792,3400,1960,2276,149.9,15.6,223,1541,0.00,2.28,12.50,0.511,9222,0.000,0.044,2801,1991,2060,1903,2218,0,0,0,0,0,0,28.83,25.83,24.75
$GC,1721,1.76,206.3,2799,1991,1902,2214,117.8,15.9,245,1737,0.00,2.33,9.40,0.499,8452,0.000,0.051,2801,3412,2017,1863,2172,0,0,0,0,0,0,28.83,25.97,24.91
$GC,1786,1.76,206.3,2801,3411,1863,2170,106.5,18.0,257,1793,0.00,2.25,0.00,0.000,1030,0.000,0.044,2811,2005,2016,1863,2170,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1982,1.76,207.1,2811,2005,1863,2169,74.0,16.6,277,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2005,2016,1863,2169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2162,1.86,237.4,2811,2005,1863,2167,45.6,14.5,295,2194,0.00,2.35,25.55,0.503,8452,0.000,0.051,2811,3411,1890,1736,2045,0,0,0,0,0,0,28.83,26.06,25.14
$GC,2212,1.89,262.2,2810,3411,1739,2045,38.1,14.9,304,2239,0.00,2.28,21.10,0.491,9222,0.000,0.044,2820,1982,1789,1636,1942,0,0,0,0,0,0,28.83,26.07,24.99
$GC,2419,2.02,289.6,2820,1982,1636,1939,4.8,14.8,327,2436,0.10,2.38,10.62,0.050,10500,0.101,0.050,2866,3408,1680,1532,1829,0,0,0,0,0,0,26.32,26.02,26.07
$STATE,2441,end climb,SURFACE_DEPTH_REACHED
$STATE,2441,begin surface coast
$FINISH,0.7,1.001680
$STATE,2466,end surface coast,CONTROL_FINISHED_OK
$STATE,2466,begin surface
$SM_CCo,2488,3.95,0.048,0,0,1639,300.00
$SM_GC,2.69,7.45,2.42,3.95,0.044,0.044,0.048,86,1928,1639,-10.60,1.07,300.00,0,0,0,0,0,0,26.05,26.10,26.10
$IRIDIUM_FIX,4707.04,-12222.91,240921,143857
$TT8_MAMPS,0.027713,0.027713
$HUMID,65.51
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,19.50
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,170.3,21.8
$SC_FREEKB,3933728
$24V_AH,24.41,15.064
$10V_AH,9.69,8.978
$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,18.700,32.200,362.100,3.950,0.000,0.000,0.000,669.225,5.750,0.000,33.118,682.122,897.206,405.382,1123.434,325.274,33.263,1411.622,0.000,514.419,0.000,21.618,0.000
$DEVICE_MAMPS,255.510,71.145,582.165,48.195,0.000,0.000,0.000,128.520,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2477.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.571,0.000,0.000,0.000
$MEM,203816
$DATA_FILE_SIZE,10143,335
$CAP_FILE_SIZE,60228,0
$CFSIZE,260034560,243027968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3740.33,0x239dd2,7,5
$CURRENT,0.012, 92.9,1
$GPS,220714,050148,4726.187,-12222.651,12,1.9,29,18.1