version: 66.12
glider: 124
mission: 17
dive: 9
start: 7 14 114 21 12 3
data:
$ID,124
$MISSION,17
$DIVE,9
$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,-307864.34
$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,24
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,300
$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,0.0020000001
$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,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
$GPS1,140714,210524,4725.728,-12221.890,14,1.5,31,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-68.4
$GPS2,140714,211055,4725.746,-12221.862,14,1.5,14,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MIDNORTH
$TGT_LATLONG,4725.730,-12221.800
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.054,0.283
$KALMAN_X,-652.6,-549.3,-139.3,306.1,19.3
$KALMAN_Y,291.8,593.4,226.8,1126.0,-332.7
$MHEAD_RNG_PITCHd_Wd,85.1,84,-26.4,-16.667,-30.00,1390
$D_GRID,169
$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,-1.79,-161.4,90,1930,1745,1915,0.0,0.0,0,85,0.00,0.00,-61.83,0.000,16386,0.000,0.000,90,1930,2865,2881,2850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.83,-180.8,90,1930,2882,2852,3.0,-1.7,6,126,8.27,2.33,-21.12,0.000,18692,0.260,0.073,1975,3328,3601,3658,3544,0,0,0,0,0,0,25.37,25.94,26.51
$GC,357,-1.70,-180.8,1975,3327,3658,3546,70.5,-24.5,58,363,0.12,2.28,0.00,0.000,3078,0.189,0.049,2005,1913,3602,3658,3546,0,0,0,0,0,0,25.77,26.08,28.83
$GC,552,-1.70,-180.8,2005,1913,3657,3546,111.3,-20.0,78,557,0.00,2.30,0.00,0.000,260,0.000,0.057,2006,3330,3601,3657,3546,0,0,0,0,0,0,28.83,26.03,28.83
$GC,645,-1.70,-180.8,2005,3330,3661,3546,130.0,-21.1,95,651,0.00,2.28,0.00,0.000,1030,0.000,0.047,2006,1911,3601,3657,3546,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,700,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,700,begin apogee
$GC,708,-0.44,0.0,2006,2006,3656,3546,141.8,-20.4,101,861,0.90,0.00,141.85,0.567,10246,0.155,0.000,2278,2007,2858,2749,2967,0,0,0,0,0,0,25.49,28.83,24.47
$STATE,863,end apogee,CONTROL_FINISHED_OK
$STATE,863,begin climb
$GC,866,1.83,180.8,2277,2006,2748,2966,153.7,0.0,117,1021,1.50,2.38,141.95,0.542,10500,0.093,0.056,2774,3407,2117,1965,2269,0,0,0,0,0,0,25.22,25.04,24.36
$GC,1055,1.87,200.8,2774,3407,1965,2266,137.8,15.2,153,1077,0.00,2.35,16.25,0.513,9222,0.000,0.047,2785,1981,2041,1889,2194,0,0,0,0,0,0,28.83,25.36,24.54
$GC,1257,1.87,202.5,2787,1982,1887,2185,103.6,16.5,175,1262,0.00,2.22,0.00,0.000,516,0.000,0.059,2786,594,2037,1888,2186,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1282,1.91,221.2,2786,594,1888,2186,99.8,15.3,179,1304,0.00,2.25,16.77,0.516,9222,0.000,0.047,2786,1998,1959,1813,2106,0,0,0,0,0,0,28.83,25.82,24.89
$GC,1484,1.97,221.2,2786,1998,1810,2101,64.4,17.7,201,1490,0.10,2.25,0.00,0.000,2308,0.102,0.055,2832,3410,1956,1811,2101,0,0,0,0,0,0,26.15,25.87,28.83
$GC,1589,1.97,221.2,2832,3410,1813,2098,45.7,17.6,221,1595,0.15,2.28,0.00,0.000,5126,0.174,0.048,2805,1995,1956,1814,2098,0,0,0,0,0,0,25.70,25.99,28.83
$GC,1785,2.10,251.2,2805,1995,1813,2098,17.1,14.5,241,1807,0.12,2.30,12.27,0.077,10756,0.091,0.060,2868,587,1839,1698,1981,0,0,0,0,0,0,26.33,26.00,25.94
$GC,1835,2.10,251.2,2868,586,1705,1981,8.3,17.8,250,1843,0.12,2.25,0.00,0.000,5126,0.159,0.046,2838,2004,1843,1705,1981,0,0,0,0,0,0,25.86,26.11,28.83
$STATE,1868,end climb,SURFACE_DEPTH_REACHED
$STATE,1868,begin surface coast
$FINISH,0.9,1.021238
$STATE,1880,end surface coast,CONTROL_FINISHED_OK
$STATE,1880,begin surface
$SM_CCo,1901,20.15,0.049,0,0,1638,300.00
$SM_GC,2.32,7.43,0.20,20.15,0.048,0.074,0.049,88,1911,1638,-10.47,0.68,300.00,0,0,0,0,0,0,26.04,26.27,26.11
$IRIDIUM_FIX,4707.04,-12220.22,170921,070711
$TT8_MAMPS,0.029211,0.029211
$HUMID,68.98
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,19.40
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,141.8,6.5
$SC_FREEKB,4016288
$24V_AH,24.36,1.532
$10V_AH,9.80,1.035
$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,18.725,27.825,329.100,20.150,0.000,0.000,0.000,177.400,4.250,0.000,15.585,519.416,597.084,390.070,587.527,183.206,33.264,845.407,0.000,386.877,0.000,8.604,0.000
$DEVICE_MAMPS,260.100,81.855,566.865,48.960,0.000,0.000,0.000,113.220,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1884.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.474,0.000,0.000,0.000
$MEM,203716
$DATA_FILE_SIZE,6848,255
$CAP_FILE_SIZE,48204,0
$CFSIZE,260034560,250634240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2053.14,0x239dd2,7,5
$CURRENT,0.095,150.6,1
$GPS,140714,214530,4725.553,-12221.431,40,2.0,40,18.1