version: 66.12
glider: 124
mission: 17
dive: 60
start: 7 16 114 13 29 58
data:
$ID,124
$MISSION,17
$DIVE,60
$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,-307928.19
$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,29
$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
$GPS1,160714,132257,4725.400,-12222.096,11,3.6,31,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-66.4
$GPS2,160714,132853,4725.371,-12222.061,29,2.0,47,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,NORTH
$TGT_LATLONG,4725.800,-12222.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.078,0.294
$KALMAN_X,-7545.0,-392.3,16.1,6637.0,205.6
$KALMAN_Y,6868.0,495.7,-89.3,-5731.3,-187.0
$MHEAD_RNG_PITCHd_Wd,334.7,798,-25.0,-16.667,-28.75,1541
$D_GRID,176
$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,20,-1.69,-180.8,91,1914,1531,1750,0.0,0.0,0,102,0.00,0.00,-79.57,0.000,16386,0.000,0.000,91,1914,2916,2943,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,92,1915,2943,2890,3.3,-1.8,8,145,8.55,2.28,-20.90,0.000,18948,0.259,0.071,2041,505,3602,3668,3536,0,0,1,0,0,0,25.37,25.60,26.56
$GC,208,-1.58,-180.8,2041,506,3670,3536,23.0,-23.3,27,215,0.10,2.28,0.00,0.000,3078,0.197,0.048,2063,1924,3603,3669,3537,0,0,0,0,0,0,25.79,26.03,28.83
$GC,394,-1.58,-180.8,2062,1924,3669,3537,58.8,-17.6,46,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1924,3602,3669,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,574,-1.58,-180.8,2062,1924,3669,3537,90.2,-16.7,64,579,0.00,2.22,0.00,0.000,260,0.000,0.057,2063,3329,3603,3669,3537,0,0,0,0,0,0,28.83,26.05,28.83
$GC,652,-1.58,-180.8,2062,3329,3669,3537,103.4,-16.2,79,659,0.00,2.25,0.00,0.000,1030,0.000,0.048,2063,1921,3603,3669,3537,0,0,0,0,0,0,28.83,26.17,28.83
$GC,838,-1.58,-180.8,2063,1921,3669,3537,135.1,-17.0,98,844,0.00,2.20,0.00,0.000,516,0.000,0.057,2063,513,3603,3670,3537,0,0,0,0,0,0,28.83,26.10,28.83
$GC,906,-1.58,-180.8,2063,513,3669,3536,147.4,-17.9,111,913,0.00,2.25,0.00,0.000,1030,0.000,0.047,2065,1932,3602,3668,3537,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,1079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1079,begin apogee
$GC,1087,-0.47,0.0,2063,2005,3668,3536,176.3,-16.0,129,1244,0.77,0.00,144.77,0.578,10246,0.138,0.000,2307,2005,2857,2750,2965,0,0,0,0,0,0,25.65,28.83,24.49
$STATE,1246,end apogee,CONTROL_FINISHED_OK
$STATE,1246,begin climb
$GC,1249,1.69,180.8,2306,2005,2749,2965,184.7,0.0,145,1406,1.40,2.47,146.90,0.555,10756,0.089,0.056,2785,590,2120,1941,2299,0,0,1,0,0,0,25.24,25.00,24.35
$GC,1471,1.70,193.2,2785,590,1940,2294,162.0,15.8,187,1487,0.00,2.30,10.48,0.502,9222,0.000,0.045,2785,1991,2073,1896,2251,0,0,0,0,0,0,28.83,25.46,24.60
$GC,1676,1.72,210.8,2784,1992,1895,2242,130.6,15.5,209,1698,0.00,2.30,15.55,0.516,8452,0.000,0.054,2785,3421,1999,1828,2171,0,0,0,0,0,0,28.83,25.72,24.91
$GC,1726,1.72,210.8,2785,3421,1830,2168,122.2,16.8,218,1734,0.00,2.33,0.00,0.000,1030,0.000,0.047,2795,1986,1999,1830,2168,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1912,1.72,210.8,2794,1987,1830,2165,91.2,17.2,237,1918,0.00,2.20,0.00,0.000,516,0.000,0.057,2801,596,1997,1830,2165,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1950,1.72,210.8,2801,597,1830,2164,84.7,17.5,244,1957,0.00,2.25,0.00,0.000,1030,0.000,0.045,2801,2004,1997,1830,2164,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2137,1.75,231.7,2801,2004,1830,2162,54.9,15.3,263,2158,0.00,0.00,18.33,0.496,8454,0.000,0.000,2801,2004,1915,1750,2081,0,0,0,0,0,0,28.83,28.83,25.20
$GC,2338,1.84,257.9,2801,2004,1749,2076,21.6,14.9,285,2358,0.00,0.00,18.05,0.468,8198,0.000,0.000,2801,2004,1808,1644,1973,0,0,0,0,0,0,28.83,28.83,25.19
$STATE,2466,end climb,SURFACE_DEPTH_REACHED
$STATE,2466,begin surface coast
$FINISH,0.9,1.008796
$STATE,2475,end surface coast,CONTROL_FINISHED_OK
$STATE,2475,begin surface
$SM_CCo,2496,16.50,0.048,0,0,1638,300.00
$SM_GC,2.00,7.32,0.20,16.50,0.047,0.077,0.048,94,1912,1638,-10.58,0.74,300.00,0,0,0,0,0,0,25.99,26.14,26.04
$IRIDIUM_FIX,4710.21,-12222.91,180921,231058
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.38
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,150.0,47.8
$SC_FREEKB,3996704
$24V_AH,24.35,4.669
$10V_AH,9.34,2.835
$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,18.150,27.700,354.075,16.500,0.000,0.000,0.000,161.500,3.750,0.000,47.949,631.016,950.337,427.325,670.900,208.004,33.277,898.184,0.000,463.796,0.000,10.304,0.000
$DEVICE_MAMPS,258.570,146.115,577.575,48.195,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2483.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.303,0.000,0.000,0.000
$MEM,203736
$DATA_FILE_SIZE,10124,299
$CAP_FILE_SIZE,53862,0
$CFSIZE,260034560,248844288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.081,159.5,1
$GPS,160714,141305,4725.625,-12222.024,11,1.8,28,18.1