version: 66.11
glider: 122
mission: 17
dive: 3
start: 3 25 113 15 58 12
data:
$ID,122
$MISSION,17
$DIVE,3
$N_DIVES,3
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,200
$D_NO_BLEED,200
$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,60
$T_MISSION,72
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53959
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-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,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-45668.047
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,167
$PITCH_MAX,3912
$C_PITCH,3180
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,346
$ROLL_MAX,3973
$ROLL_DEG,30
$C_ROLL_DIVE,2159
$C_ROLL_CLIMB,2159
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3824
$C_VBD,2750
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-24.500248
$PRESSURE_SLOPE,0.0001162797
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,0.0043208366
$SEABIRD_T_H,0.00062347745
$SEABIRD_T_I,2.2670058e-05
$SEABIRD_T_J,2.2826241e-06
$SEABIRD_C_G,-10.179777
$SEABIRD_C_H,1.1536758
$SEABIRD_C_I,-0.0015873691
$SEABIRD_C_J,0.00021656453
$SC_RECORDABOVE,1050.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,250313,155412,2433.878,-3759.182,17,0.8,18,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-65.2
$GPS2,250313,155743,2433.889,-3759.142,21,0.8,22,-14.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,N
$TGT_LATLONG,2513.000,-3800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,31.8,72447,-17.6,-10.000,-21.24,2209
$D_GRID,180
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.13,-146.0,136,2136,706,766,0.0,0.0,0,129,0.00,0.00,-102.68,0.000,16390,0.000,0.000,127,2134,3345,3197,3494,0,0,0,0,0,0,28.83,28.83,15.21
$GC,131,-1.13,-146.0,127,2134,3198,3494,3.7,-4.1,7,149,11.75,1.73,0.00,0.000,2820,0.375,0.055,2810,1106,3347,3201,3494,0,0,0,0,0,0,14.81,15.00,28.83
$GC,377,-0.91,-146.0,2810,1106,3206,3489,43.6,-15.6,23,383,0.30,1.73,0.00,0.000,3078,0.236,0.048,2885,2159,3346,3205,3487,0,0,0,0,0,0,14.92,15.04,28.83
$GC,696,-0.87,-146.0,2885,2159,3205,3487,79.6,-10.8,44,701,0.00,1.75,0.00,0.000,516,0.000,0.060,2885,1104,3345,3205,3486,0,0,0,0,0,0,28.83,15.04,28.83
$GC,928,-0.83,-146.0,2885,1104,3205,3486,105.4,-11.4,59,933,0.12,1.73,0.00,0.000,3078,0.255,0.049,2910,2158,3346,3206,3486,0,0,0,0,0,0,14.97,15.09,28.83
$GC,1241,-0.83,-146.0,2909,2158,3205,3486,137.3,-9.6,80,1246,0.00,1.75,0.00,0.000,260,0.000,0.071,2904,3212,3345,3205,3486,0,0,0,0,0,0,28.83,15.06,28.83
$GC,1348,-0.83,-146.0,2904,3212,3205,3485,148.2,-10.1,87,1354,0.00,1.73,0.00,0.000,1030,0.000,0.047,2905,2150,3345,3206,3485,0,0,0,0,0,0,28.83,15.11,28.83
$STATE,1650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1650,begin apogee
$GC,1654,-0.25,0.0,2904,2150,3207,3485,181.3,-11.2,107,1777,0.62,0.00,115.40,0.949,10246,0.184,0.000,3094,2150,2744,2699,2790,0,0,0,0,0,0,15.00,28.83,14.24
$STATE,1780,end apogee,CONTROL_FINISHED_OK
$STATE,1780,begin climb
$GC,1782,1.13,146.0,3094,2149,2699,2787,186.5,0.0,115,1908,1.35,1.92,113.43,0.929,10500,0.124,0.066,3540,3204,2148,2092,2205,0,0,0,0,0,0,14.67,14.57,14.15
$GC,2030,0.96,146.0,3540,3204,2091,2195,161.1,15.4,131,2037,0.22,1.77,0.00,0.000,5126,0.259,0.050,3492,2149,2142,2091,2194,0,0,0,0,0,0,14.73,14.84,28.83
$GC,2335,0.91,146.0,3492,2149,2092,2190,121.2,12.0,152,2341,0.00,1.80,0.00,0.000,260,0.000,0.067,3492,3203,2140,2091,2190,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2407,0.84,146.0,3492,3203,2091,2189,114.0,11.4,156,2415,0.17,1.73,0.00,0.000,5126,0.256,0.051,3449,2161,2140,2091,2189,0,0,0,0,0,0,14.91,15.02,28.83
$GC,2713,0.87,163.1,3450,2161,2091,2188,84.9,9.2,177,2733,0.00,1.85,12.38,0.822,8452,0.000,0.067,3449,3206,2082,2029,2135,0,0,0,0,0,0,28.83,15.00,14.59
$GC,2801,0.87,163.1,3450,3206,2030,2132,77.0,10.6,182,2808,0.00,1.73,0.00,0.000,1030,0.000,0.051,3452,2159,2081,2030,2132,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3106,0.91,163.1,3452,2158,2030,2129,43.1,10.7,203,3111,0.00,1.73,0.00,0.000,516,0.000,0.068,3453,1104,2079,2030,2129,0,0,0,0,0,0,28.83,15.05,28.83
$GC,3168,0.95,163.1,3453,1104,2030,2127,36.6,10.4,207,3173,0.00,1.73,0.00,0.000,1030,0.000,0.049,3452,2159,2079,2031,2127,0,0,0,0,0,0,28.83,15.07,28.83
$GC,3486,1.03,163.1,3453,2159,2030,2127,3.3,10.5,228,3488,0.17,0.00,0.00,0.000,2054,0.122,0.000,3531,2160,2078,2030,2127,0,0,0,0,0,0,15.09,28.83,28.83
$STATE,3498,end climb,SURFACE_DEPTH_REACHED
$STATE,3499,begin surface coast
$FINISH,0.5,1.011462
$STATE,3515,end surface coast,CONTROL_FINISHED_OK
$STATE,3515,begin surface
$SM_CCo,3533,125.20,0.076,0,0,913,450.13
$SM_GC,1.31,9.38,0.00,125.20,0.060,0.000,0.076,150,2177,913,-9.37,0.51,450.13,0,0,0,0,0,0,15.12,28.83,15.04
$IRIDIUM_FIX,2427.58,-3759.98,250313,151541
$TT8_MAMPS,0.025466,0.025466
$HUMID,40.86
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.00
$XPDR_PINGS,10
$SC_FREEKB,4019200
$TM_FREEKB,7879984
$24V_AH,14.2,3.001
$10V_AH,14.2,0.000
$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,24.100,24.650,241.200,125.200,0.000,0.000,0.000,0.000,2.500,0.000,23.127,775.405,1847.504,429.041,657.675,37.154,0.000,803.992,0.000,611.248,0.000,0.541,0.000
$DEVICE_MAMPS,374.850,71.145,948.600,75.735,0.000,0.000,0.000,0.000,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3492.000,3491.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.332,12.803,0.000,0.000
$MEM,354096
$DATA_FILE_SIZE,6799,230
$CAP_FILE_SIZE,78197,0
$CFSIZE,260034560,252665856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.179,270.4,1
$GPS,250313,170029,2434.286,-3759.566,39,0.9,40,-14.0