version: 66.12
glider: 124
mission: 17
dive: 68
start: 7 16 114 19 49 56
data:
$ID,124
$MISSION,17
$DIVE,68
$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,-307938.19
$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,33
$R_STBD_OVSHOOT,28
$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
$GPS1,160714,194257,4725.821,-12222.181,11,2.6,31,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-67.9
$GPS2,160714,194851,4725.880,-12222.240,13,2.7,33,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,NORTH
$TGT_LATLONG,4725.800,-12222.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.224,-0.206
$KALMAN_X,-8023.1,-12.4,28.7,6501.2,-194.0
$KALMAN_Y,8656.6,235.9,188.7,-6599.3,288.2
$MHEAD_RNG_PITCHd_Wd,109.9,336,-25.0,-16.667,-28.75,1541
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-1.69,-180.8,91,1910,1533,1750,0.0,0.0,0,102,0.00,0.00,-80.28,0.000,16386,0.000,0.000,91,1910,2944,2975,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,91,1910,2974,2914,3.3,-1.7,8,141,8.52,2.42,-19.25,0.000,18692,0.257,0.071,2039,3338,3601,3666,3536,0,0,0,0,0,0,25.37,25.94,26.52
$GC,159,-1.55,-180.8,2039,3338,3666,3537,11.9,-16.7,17,167,0.12,2.30,0.00,0.000,3078,0.179,0.050,2070,1918,3601,3666,3537,0,0,0,0,0,0,25.73,26.01,28.83
$GC,346,-1.55,-180.8,2069,1918,3666,3538,49.1,-18.7,36,347,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,1918,3601,3666,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,527,-1.55,-180.8,2069,1918,3666,3538,85.0,-19.7,54,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,1918,3602,3666,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,707,-1.55,-180.8,2069,1918,3666,3538,116.9,-17.2,72,712,0.00,2.28,0.00,0.000,260,0.000,0.056,2069,3324,3602,3666,3538,0,0,0,0,0,0,28.83,26.09,28.83
$GC,764,-1.55,-180.8,2069,3325,3666,3538,128.0,-19.6,82,769,0.00,2.25,0.00,0.000,1030,0.000,0.047,2069,1917,3601,3665,3538,0,0,0,0,0,0,28.83,26.20,28.83
$GC,962,-1.55,-180.8,2069,1916,3665,3537,161.4,-16.0,102,968,0.00,2.30,0.00,0.000,260,0.000,0.057,2069,3337,3602,3666,3538,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,1004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1004,begin apogee
$GC,1014,-0.47,0.0,2069,1983,3665,3538,169.6,-16.9,110,1168,0.75,0.00,143.77,0.572,10246,0.139,0.000,2304,1983,2858,2752,2964,0,0,0,0,0,0,25.67,28.83,24.50
$STATE,1170,end apogee,CONTROL_FINISHED_OK
$STATE,1170,begin climb
$GC,1173,1.69,180.8,2303,1983,2751,2963,178.6,0.0,126,1334,1.40,2.47,147.65,0.552,10500,0.090,0.056,2774,3408,2119,1941,2298,0,0,1,0,0,0,25.23,25.01,24.36
$GC,1357,1.70,195.2,2774,3407,1941,2293,162.1,15.7,148,1375,0.00,2.35,12.35,0.509,9222,0.000,0.047,2783,1995,2063,1885,2242,0,0,0,0,0,0,28.83,25.30,24.51
$GC,1555,1.72,206.3,2783,1995,1885,2234,131.5,15.9,169,1566,0.00,0.00,9.68,0.497,8198,0.000,0.000,2784,1994,2020,1846,2194,0,0,0,0,0,0,28.83,28.83,24.85
$GC,1745,1.72,208.8,2783,1995,1846,2186,100.0,16.5,188,1751,0.00,2.25,0.00,0.000,516,0.000,0.060,2786,584,2016,1846,2186,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1765,1.74,224.9,2786,584,1847,2186,96.9,15.6,191,1792,0.00,2.28,16.70,0.511,9222,0.000,0.046,2786,2004,1942,1775,2109,0,0,0,0,0,0,28.83,25.96,25.02
$GC,1972,1.82,240.5,2786,2004,1775,2106,63.7,15.6,214,1993,0.00,2.25,14.25,0.498,8452,0.000,0.055,2786,3412,1877,1711,2044,0,0,0,0,0,0,28.83,25.91,25.08
$GC,2027,1.82,240.5,2786,3413,1712,2042,54.7,16.8,224,2033,0.00,2.30,0.00,0.000,1030,0.000,0.047,2795,1985,1877,1713,2042,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2222,1.92,269.6,2795,1985,1712,2039,23.5,14.7,244,2249,0.12,2.22,20.27,0.480,10756,0.089,0.055,2866,589,1759,1602,1917,0,0,0,0,0,0,26.27,25.92,25.18
$GC,2261,1.92,269.6,2865,589,1602,1917,16.3,18.7,251,2269,0.15,2.28,0.00,0.000,5126,0.150,0.046,2826,2005,1759,1602,1917,0,0,0,0,0,0,25.76,25.98,28.83
$STATE,2334,end climb,SURFACE_DEPTH_REACHED
$STATE,2334,begin surface coast
$FINISH,0.9,1.004988
$STATE,2348,end surface coast,CONTROL_FINISHED_OK
$STATE,2348,begin surface
$SM_CCo,2369,11.75,0.049,0,0,1638,300.00
$SM_GC,2.21,7.43,0.17,11.75,0.049,0.080,0.049,94,1916,1638,-10.58,0.82,300.00,0,0,1,0,0,0,25.92,26.12,26.01
$IRIDIUM_FIX,4710.21,-12224.61,190921,053155
$TT8_MAMPS,0.029211,0.029211
$HUMID,66.38
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,8
$SC_FREEKB,3993632
$24V_AH,24.36,5.154
$10V_AH,9.32,3.116
$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,18.500,32.350,364.675,11.750,0.000,0.000,0.000,172.875,4.250,0.000,34.356,581.746,900.839,448.631,616.384,205.607,33.274,901.113,0.000,404.386,0.000,20.301,0.000
$DEVICE_MAMPS,257.040,79.560,572.220,48.960,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2356.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.574,0.000,0.000,0.000
$MEM,203720
$DATA_FILE_SIZE,6832,260
$CAP_FILE_SIZE,53079,0
$CFSIZE,260034560,248586240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$INTR,0,2818.80,0x239dd2,7,5
$CURRENT,0.087,331.0,1
$GPS,160714,203100,4725.726,-12221.945,38,1.5,38,18.1