version: 66.12
glider: 122
mission: 18
dive: 4
start: 12 31 113 21 50 3
data:
$ID,122
$MISSION,18
$DIVE,4
$N_DIVES,5
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,180
$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,46
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53103
$MASS_COMP,0
$NAV_MODE,0
$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,400
$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,-48488.844
$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,3210
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,18
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,346
$ROLL_MAX,3973
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3824
$C_VBD,3126
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,5
$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,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-24.516644
$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,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,0.0043004025
$SEABIRD_T_H,0.00061956386
$SEABIRD_T_I,2.1601601e-05
$SEABIRD_T_J,2.1824615e-06
$SEABIRD_C_G,-9.9064283
$SEABIRD_C_H,1.1356661
$SEABIRD_C_I,-0.0013684707
$SEABIRD_C_J,0.0001769791
$SC_RECORDABOVE,1050.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,311213,214324,4743.476,-12224.984,39,1.4,39,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.9
$GPS2,311213,214949,4743.477,-12224.989,20,1.1,20,16.6
$SPEED_LIMITS,0.188,0.265
$TGT_NAME,NE
$TGT_LATLONG,4743.500,-12224.000
$TGT_RADIUS,100.000
$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,71.4,1233,-19.0,-10.870,-22.30,2037
$D_GRID,178
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.30,-146.6,149,1988,1422,1564,0.0,0.0,0,110,0.00,0.00,-88.93,0.000,16386,0.000,0.000,149,1989,3505,3425,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-1.30,-146.6,149,1989,3426,3586,3.8,-6.1,9,141,12.73,2.60,-4.70,0.000,18692,0.409,0.101,2776,3400,3726,3725,3728,0,0,0,0,0,0,14.47,14.63,14.85
$GC,369,-1.07,-146.6,2776,3400,3727,3728,54.7,-18.5,34,375,0.35,2.42,0.00,0.000,3078,0.248,0.058,2864,1994,3727,3726,3728,0,0,0,0,0,0,14.60,14.74,28.83
$GC,562,-1.07,-146.6,2864,1995,3727,3728,80.9,-12.9,53,567,0.00,2.53,0.00,0.000,260,0.000,0.080,2857,3404,3727,3726,3728,0,0,0,0,0,0,28.83,14.71,28.83
$GC,798,-1.01,-146.6,2858,3405,3727,3728,112.4,-12.8,76,803,0.00,2.42,0.00,0.000,1030,0.000,0.059,2857,1997,3727,3726,3728,0,0,0,0,0,0,28.83,14.80,28.83
$GC,990,-1.01,-146.6,2857,1997,3727,3728,139.0,-13.7,95,995,0.00,2.50,0.00,0.000,260,0.000,0.078,2848,3398,3727,3726,3728,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,1068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1068,begin apogee
$GC,1083,-0.28,0.0,2848,1705,3727,3730,150.8,-14.1,103,1219,0.93,0.00,126.12,1.083,10246,0.199,0.000,3114,1704,3118,3105,3131,0,0,0,0,0,0,14.66,28.83,13.76
$STATE,1220,end apogee,CONTROL_FINISHED_OK
$STATE,1220,begin climb
$GC,1224,1.30,146.6,3115,1704,3103,3129,156.2,0.0,117,1364,1.62,2.53,129.00,1.045,10756,0.132,0.087,3621,350,2519,2408,2630,0,0,0,0,0,0,14.26,14.13,13.66
$GC,1497,1.06,146.6,3622,350,2397,2621,123.2,16.0,144,1503,0.30,2.40,0.00,0.000,5126,0.265,0.056,3551,1716,2508,2396,2621,0,0,0,0,0,0,14.35,14.50,28.83
$GC,1691,0.97,146.6,3551,1716,2396,2616,97.0,13.5,163,1696,0.00,2.40,0.00,0.000,260,0.000,0.071,3551,3096,2506,2396,2616,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1873,0.86,146.6,3551,3096,2397,2615,72.7,13.3,181,1879,0.25,2.45,0.00,0.000,5126,0.256,0.067,3488,1699,2505,2396,2615,0,0,0,0,0,0,14.57,14.69,28.83
$GC,2066,0.87,155.3,3489,1699,2399,2614,52.3,10.4,200,2077,0.00,2.45,1.83,0.101,8708,0.000,0.093,3493,358,2492,2384,2600,0,0,0,0,0,0,28.83,14.70,14.67
$GC,2124,0.87,155.3,3494,358,2385,2607,46.3,11.3,205,2131,0.00,2.33,0.00,0.000,1030,0.000,0.061,3494,1705,2495,2384,2607,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2310,0.96,210.5,3494,1705,2385,2610,27.8,8.1,224,2374,0.00,2.53,55.75,0.938,8452,0.000,0.073,3494,3095,2258,2162,2355,0,0,0,0,0,0,28.83,14.50,14.07
$STATE,2548,end climb,SURFACE_DEPTH_REACHED
$STATE,2548,begin surface coast
$FINISH,0.6,1.022834
$STATE,2558,end surface coast,CONTROL_FINISHED_OK
$STATE,2558,begin surface
$SM_CCo,2585,88.90,0.095,0,0,1494,400.08
$SM_GC,1.46,9.75,2.00,88.90,0.070,0.062,0.095,148,1988,1494,-9.48,0.79,400.08,0,0,0,0,0,0,14.67,14.66,14.62
$IRIDIUM_FIX,4726.11,-12225.08,311213,202047
$TT8_MAMPS,0.042693,0.042693
$HUMID,45.43
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3871424
$24V_AH,13.7,0.924
$10V_AH,13.3,0.000
$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,25.925,34.575,312.700,88.900,0.000,0.000,0.000,192.950,0.000,0.000,22.003,0.000,1364.460,475.021,916.330,296.864,0.000,1004.367,0.000,620.010,0.000,0.532,0.000
$DEVICE_MAMPS,409.275,100.980,1083.240,94.860,0.000,0.000,0.000,200.430,420.000,0.000,19.474,0.000,2.190,11.164,28.391,33.634,0.000,15.800,0.000,5.992,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2570.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.418,0.000,0.000,0.000
$MEM,199604
$DATA_FILE_SIZE,6791,249
$CAP_FILE_SIZE,56251,0
$CFSIZE,260034560,252342272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311213,223524,4743.245,-12224.754,15,1.6,15,16.6