version: 66.12
glider: 124
mission: 17
dive: 6
start: 7 14 114 19 15 0
data:
$ID,124
$MISSION,17
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$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,35
$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,0.003
$HD_B,0.0099999998
$HD_C,2.53e-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,-307860.5
$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,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,18
$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,28
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,4045
$C_VBD,3050
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0020000001
$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,9.1999998
$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,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,140714,190800,4725.154,-12221.517,9,1.3,9,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-68.7
$GPS2,140714,191355,4725.189,-12221.525,10,1.9,10,18.1
$SPEED_LIMITS,0.247,0.316
$TGT_NAME,MIDNORTH
$TGT_LATLONG,4725.730,-12221.800
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.112,0.295
$KALMAN_X,-430.4,-461.6,-331.5,609.4,-21.0
$KALMAN_Y,741.0,634.6,421.5,-594.8,125.1
$MHEAD_RNG_PITCHd_Wd,327.3,1059,-21.6,-14.286,-24.36,1905
$D_GRID,175
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-1.56,-180.8,83,1915,1751,1908,0.0,0.0,0,93,0.00,0.00,-70.60,0.000,16386,0.000,0.000,83,1915,3067,3108,3027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.56,-180.8,82,1915,3108,3027,3.8,-2.8,7,129,8.50,2.22,-16.77,0.000,19204,0.258,0.069,2033,511,3787,3820,3755,0,0,0,0,0,0,25.46,25.98,26.57
$GC,138,-1.17,-180.8,2032,511,3820,3757,13.9,-21.4,14,146,0.32,2.25,0.00,0.000,3078,0.172,0.048,2122,1916,3788,3820,3757,0,0,0,0,0,0,25.55,26.02,28.83
$GC,324,-1.17,-180.8,2121,1916,3818,3760,49.9,-17.0,33,331,0.00,2.28,0.00,0.000,516,0.000,0.057,2122,512,3788,3818,3759,0,0,0,0,0,0,28.83,25.98,28.83
$GC,561,-1.17,-180.8,2122,512,3816,3761,90.8,-16.4,79,567,0.00,2.25,0.00,0.000,1030,0.000,0.047,2121,1933,3788,3816,3761,0,0,0,0,0,0,28.83,26.13,28.83
$GC,756,-1.23,-180.8,2122,1933,3814,3762,118.6,-14.5,99,761,0.00,2.30,0.00,0.000,516,0.000,0.057,2122,510,3787,3813,3762,0,0,0,0,0,0,28.83,26.03,28.83
$GC,780,-1.23,-180.8,2122,511,3813,3762,122.4,-15.6,103,786,0.00,2.25,0.00,0.000,1030,0.000,0.047,2122,1932,3787,3813,3762,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,834,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,834,begin apogee
$GC,843,-0.44,0.0,2122,2006,3812,3763,131.1,-16.0,109,990,0.50,0.00,141.05,0.573,10246,0.125,0.000,2284,2006,3049,2962,3136,0,0,0,0,0,0,25.72,28.83,24.50
$STATE,992,end apogee,CONTROL_FINISHED_OK
$STATE,992,begin climb
$GC,995,1.56,180.8,2283,2006,2958,3133,144.6,0.0,124,1147,1.27,2.40,142.55,0.542,10756,0.084,0.055,2727,594,2306,2162,2450,0,0,0,0,0,0,25.26,25.07,24.40
$GC,1237,1.68,243.0,2727,594,2162,2443,132.6,10.9,169,1294,0.00,2.30,48.28,0.532,9222,0.000,0.046,2728,1997,2054,1910,2199,0,0,0,0,0,0,28.83,25.58,24.56
$GC,1474,1.69,245.5,2727,1997,1912,2197,103.3,14.2,198,1479,0.00,2.25,0.00,0.000,260,0.000,0.056,2727,3411,2054,1912,2197,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1522,1.69,245.5,2727,3411,1914,2194,95.7,14.9,207,1528,0.00,2.30,0.00,0.000,1030,0.000,0.048,2735,1985,2054,1915,2194,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1709,1.81,304.8,2735,1985,1914,2194,72.8,11.1,226,1768,0.12,2.40,49.45,0.516,10500,0.092,0.057,2787,3410,1802,1662,1943,0,0,1,0,0,0,26.25,25.63,24.96
$GC,1789,1.73,304.8,2786,3410,1663,1942,61.9,14.6,236,1796,0.17,2.30,0.00,0.000,5126,0.153,0.048,2752,2000,1802,1663,1942,0,0,0,0,0,0,25.55,25.73,28.83
$GC,1975,1.76,318.3,2751,2000,1664,1942,36.0,13.6,255,1996,0.00,2.30,11.85,0.479,8708,0.000,0.060,2760,595,1747,1610,1885,0,0,0,0,0,0,28.83,25.88,25.10
$GC,2040,1.76,318.3,2759,595,1611,1885,26.5,14.8,267,2045,0.00,2.25,0.00,0.000,1030,0.000,0.047,2760,2004,1748,1611,1885,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,2231,end climb,SURFACE_DEPTH_REACHED
$STATE,2231,begin surface coast
$FINISH,0.8,1.021371
$STATE,2252,end surface coast,CONTROL_FINISHED_OK
$STATE,2252,begin surface
$SM_CCo,2333,0.00,0.000,0,0,1747,319.38
$SM_GC,1.65,7.20,0.20,0.00,0.047,0.074,0.000,93,1913,1747,-10.45,0.68,319.38,0,0,0,0,0,0,26.03,26.21,28.83
$IRIDIUM_FIX,4707.04,-12220.22,170921,051055
$TT8_MAMPS,0.028462,0.028462
$HUMID,70.75
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,19.40
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,131.1,9.2
$SC_FREEKB,4017440
$24V_AH,24.40,1.356
$10V_AH,9.53,0.947
$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,18.100,32.350,393.175,0.000,0.000,0.000,0.000,203.800,4.750,0.000,11.364,582.693,838.464,431.674,640.312,210.716,33.259,944.893,0.000,449.402,0.000,10.137,0.000
$DEVICE_MAMPS,257.805,112.455,572.985,0.000,0.000,0.000,0.000,111.690,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2259.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.879,0.000,0.000,0.000
$MEM,204104
$DATA_FILE_SIZE,10159,289
$CAP_FILE_SIZE,52842,0
$CFSIZE,260034560,250728448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2072.36,0x239dd2,7,5
$CURRENT,0.052,302.5,1
$GPS,140714,195448,4725.412,-12221.753,9,1.2,14,18.1