version: 66.12
glider: 124
mission: 17
dive: 28
start: 7 15 114 12 11 21
data:
$ID,124
$MISSION,17
$DIVE,28
$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,-307888.19
$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,21
$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,0.0012000001
$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,9.1999998
$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
$GPS1,150714,120237,4725.964,-12222.039,12,1.7,12,18.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-67.9
$GPS2,150714,121012,4725.940,-12222.004,11,1.8,15,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.632,-12221.732
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.147,-0.248
$KALMAN_X,-4447.5,-406.9,97.0,3542.6,154.5
$KALMAN_Y,2203.7,366.1,-148.5,175.1,-258.1
$MHEAD_RNG_PITCHd_Wd,129.6,665,-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,-1.75,-161.4,95,1930,1535,1744,0.0,0.0,0,103,0.00,0.00,-80.32,0.000,16386,0.000,0.000,95,1931,2960,2994,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.77,-180.8,95,1931,2994,2928,3.5,-1.9,8,142,8.48,2.40,-17.48,0.000,18692,0.259,0.073,2021,3338,3601,3666,3536,0,0,0,0,0,0,25.34,25.89,26.48
$GC,246,-1.77,-180.8,2021,3338,3666,3537,33.8,-22.9,34,252,0.00,2.30,0.00,0.000,1030,0.000,0.050,2021,1917,3601,3666,3537,0,0,0,0,0,0,28.83,25.99,28.83
$GC,441,-1.71,-180.8,2021,1917,3665,3537,79.0,-21.6,54,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1917,3601,3665,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,630,-1.71,-180.8,2021,1916,3664,3537,118.6,-20.6,73,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1917,3601,3665,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,811,-1.71,-180.8,2021,1917,3664,3537,154.2,-18.9,91,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1917,3600,3664,3537,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,900,begin apogee
$GC,908,-0.47,0.0,2021,2008,3664,3537,170.7,-17.9,100,1062,0.93,0.00,143.98,0.588,10246,0.152,0.000,2302,2008,2858,2754,2963,0,0,0,0,0,0,25.53,28.83,24.42
$STATE,1064,end apogee,CONTROL_FINISHED_OK
$STATE,1064,begin climb
$GC,1067,1.77,180.8,2302,2008,2753,2962,180.0,0.0,116,1228,1.48,2.38,147.45,0.564,10500,0.086,0.054,2798,3434,2120,1950,2291,0,0,0,0,0,0,25.19,24.97,24.29
$GC,1261,1.77,182.2,2798,3433,1952,2287,169.8,16.6,144,1268,0.00,2.40,0.00,0.000,1030,0.000,0.048,2808,1988,2119,1952,2286,0,0,0,0,0,0,28.83,25.30,28.83
$GC,1447,1.77,182.2,2808,1988,1953,2283,136.5,17.3,163,1452,0.00,2.25,0.00,0.000,516,0.000,0.058,2813,580,2117,1953,2282,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1521,1.77,182.2,2813,580,1955,2281,123.7,17.2,177,1528,0.00,2.28,0.00,0.000,1030,0.000,0.045,2813,1997,2117,1954,2281,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1717,1.78,185.0,2813,1997,1956,2279,92.1,16.5,197,1729,0.00,2.30,3.00,0.331,8452,0.000,0.057,2813,3410,2108,1950,2267,0,0,0,0,0,0,28.83,26.01,24.84
$GC,1814,1.78,191.4,2813,3410,1953,2266,75.3,16.2,215,1831,0.12,2.28,7.85,0.480,13318,0.168,0.048,2794,1993,2077,1920,2234,0,0,0,0,0,0,25.79,26.03,25.16
$GC,2021,1.90,230.5,2793,1993,1919,2232,44.3,13.8,237,2060,0.12,0.00,32.17,0.511,10758,0.093,0.000,2851,1993,1919,1761,2077,0,0,0,0,0,0,26.30,28.83,25.13
$GC,2240,1.90,230.5,2850,1993,1767,2077,9.6,17.5,260,2246,0.12,2.25,0.00,0.000,4612,0.162,0.057,2825,585,1922,1767,2077,0,0,0,0,0,0,25.90,25.91,28.83
$STATE,2282,end climb,SURFACE_DEPTH_REACHED
$STATE,2282,begin surface coast
$FINISH,1.4,1.021605
$STATE,2293,end surface coast,CONTROL_FINISHED_OK
$STATE,2296,begin surface
$SM_CCo,2318,27.95,0.048,0,0,1638,300.00
$SM_GC,1.60,7.45,2.20,27.95,0.050,0.047,0.048,91,1917,1638,-10.60,-0.90,300.00,0,0,0,0,0,0,25.94,26.02,26.04
$IRIDIUM_FIX,4707.04,-12222.91,170921,223843
$TT8_MAMPS,0.029211,0.029211
$HUMID,66.97
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.20
$XPDR_PINGS,15
$SC_FREEKB,4008992
$24V_AH,24.29,2.722
$10V_AH,9.85,1.705
$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,18.700,23.200,334.450,27.950,0.000,0.000,0.000,233.900,6.250,0.000,16.563,588.421,923.140,436.791,680.767,194.864,33.273,949.169,0.000,426.364,0.000,21.769,0.000
$DEVICE_MAMPS,258.570,78.795,588.285,48.195,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2302.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.264,0.000,0.000,0.000
$MEM,204160
$DATA_FILE_SIZE,10126,270
$CAP_FILE_SIZE,50959,0
$CFSIZE,260034560,249962496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2919.45,0x239dd2,7,5
$CURRENT,0.096,161.6,1
$GPS,150714,125145,4725.506,-12221.715,12,2.9,32,18.1