version: 66.12
glider: 124
mission: 17
dive: 98
start: 7 17 114 19 42 5
data:
$ID,124
$MISSION,17
$DIVE,98
$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,-307975.69
$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,28
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,250
$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
$GPS1,170714,193505,4726.126,-12222.753,10,1.7,26,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-67.8
$GPS2,170714,194101,4726.175,-12222.767,13,1.1,13,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.074,-0.295
$KALMAN_X,-9205.2,154.1,69.0,6812.2,-127.9
$KALMAN_Y,9814.8,44.8,-94.5,-6743.5,283.1
$MHEAD_RNG_PITCHd_Wd,135.9,454,-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,21,-1.69,-180.8,88,1915,1530,1748,0.0,0.0,0,103,0.00,0.00,-80.25,0.000,16386,0.000,0.000,88,1916,2935,2965,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,88,1916,2964,2906,3.3,-2.1,8,142,8.55,2.30,-19.38,0.000,18948,0.258,0.069,2036,510,3600,3665,3536,0,0,0,0,0,0,25.35,25.99,26.57
$GC,281,-1.55,-180.8,2037,510,3667,3537,45.0,-22.5,41,290,0.12,2.28,0.00,0.000,3078,0.197,0.047,2067,1934,3602,3667,3537,0,0,0,0,0,0,25.76,26.10,28.83
$GC,468,-1.55,-180.8,2066,1934,3666,3537,79.6,-17.3,60,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,1934,3601,3666,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,649,-1.55,-180.8,2066,1933,3666,3537,109.5,-17.0,78,655,0.00,2.30,0.00,0.000,516,0.000,0.057,2067,508,3602,3667,3537,0,0,0,0,0,0,28.83,26.11,28.83
$GC,674,-1.55,-180.8,2066,508,3666,3537,114.0,-18.0,82,680,0.00,2.25,0.00,0.000,1030,0.000,0.047,2066,1914,3601,3666,3537,0,0,0,0,0,0,28.83,26.20,28.83
$GC,869,-1.55,-180.8,2066,1914,3666,3538,148.4,-19.9,102,874,0.00,2.22,0.00,0.000,260,0.000,0.057,2067,3332,3601,3666,3537,0,0,0,0,0,0,28.83,26.12,28.83
$GC,944,-1.55,-180.8,2066,3332,3666,3537,160.7,-16.3,115,950,0.00,2.28,0.00,0.000,1030,0.000,0.048,2067,1912,3601,3666,3537,0,0,0,0,0,0,28.83,26.24,28.83
$STATE,1026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1026,begin apogee
$GC,1034,-0.47,0.0,2066,2006,3665,3538,176.6,-16.1,124,1189,0.75,0.00,143.88,0.586,10246,0.138,0.000,2303,2007,2859,2753,2965,0,0,0,0,0,0,25.67,28.83,24.47
$STATE,1191,end apogee,CONTROL_FINISHED_OK
$STATE,1191,begin climb
$GC,1194,1.69,180.8,2303,2007,2752,2965,186.5,0.0,140,1351,1.38,2.33,145.62,0.562,10500,0.074,0.053,2780,3410,2120,1941,2300,0,0,0,0,0,0,25.28,25.06,24.35
$GC,1446,1.69,180.8,2780,3410,1944,2291,157.5,17.6,188,1451,0.00,2.33,0.00,0.000,1030,0.000,0.046,2790,1988,2117,1944,2291,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1640,1.69,180.8,2790,1988,1944,2286,123.7,16.9,208,1646,0.00,2.35,0.00,0.000,260,0.000,0.055,2790,3411,2115,1944,2286,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1698,1.69,180.8,2790,3411,1946,2282,113.8,17.0,219,1706,0.10,2.28,0.00,0.000,5126,0.181,0.047,2777,2003,2114,1946,2282,0,0,0,0,0,0,25.77,25.95,28.83
$GC,1886,1.69,185.3,2777,2003,1946,2280,84.8,16.4,238,1891,0.00,2.25,0.00,0.000,516,0.000,0.057,2786,576,2113,1946,2280,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1914,1.69,187.0,2785,576,1946,2280,79.9,16.5,243,1926,0.00,2.28,3.80,0.397,9222,0.000,0.045,2786,2004,2100,1934,2266,0,0,0,0,0,0,28.83,26.11,24.89
$GC,2115,1.81,226.4,2785,2004,1937,2266,50.8,14.1,264,2157,0.00,2.33,35.50,0.503,8452,0.000,0.056,2786,3413,1936,1768,2105,0,0,0,0,0,0,28.83,25.89,25.15
$GC,2233,1.89,231.4,2785,3413,1770,2099,33.6,16.3,286,2245,0.10,2.30,2.15,0.190,11270,0.100,0.046,2839,1984,1918,1753,2083,0,0,0,0,0,0,25.96,25.96,24.65
$STATE,2401,end climb,SURFACE_DEPTH_REACHED
$STATE,2401,begin surface coast
$FINISH,0.9,1.021842
$STATE,2412,end surface coast,CONTROL_FINISHED_OK
$STATE,2412,begin surface
$SM_CCo,2433,28.02,0.048,0,0,1638,300.00
$SM_GC,1.73,7.43,0.10,28.02,0.047,0.107,0.048,93,1914,1638,-10.59,0.79,300.00,0,0,0,0,0,0,25.99,26.29,26.08
$IRIDIUM_FIX,4710.21,-12220.22,200921,052048
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.65
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,160.7,33.1
$SC_FREEKB,3982112
$24V_AH,24.35,6.986
$10V_AH,9.47,4.189
$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,18.425,32.350,330.950,28.025,0.000,0.000,0.000,189.150,5.000,0.000,13.950,640.351,884.094,420.453,676.000,211.969,33.277,926.771,0.000,468.597,0.000,11.848,0.000
$DEVICE_MAMPS,257.805,107.100,585.990,48.195,0.000,0.000,0.000,117.810,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2423.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.566,0.000,0.000,0.000
$MEM,203724
$DATA_FILE_SIZE,10116,305
$CAP_FILE_SIZE,54850,0
$CFSIZE,260034560,247525376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3002.85,0x239dd2,7,5
$CURRENT,0.168,331.7,1
$GPS,170714,202400,4726.077,-12222.618,8,2.0,8,18.1