version: 66.12
glider: 124
mission: 17
dive: 130
start: 7 18 114 21 15 8
data:
$ID,124
$MISSION,17
$DIVE,130
$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,-309217
$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,30
$R_STBD_OVSHOOT,33
$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
$GPS1,180714,210800,4726.008,-12222.822,13,2.0,18,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-68.0
$GPS2,180714,211401,4726.035,-12222.831,17,2.0,17,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.189,-0.219
$KALMAN_X,-12095.8,-268.6,-253.9,10369.5,-161.8
$KALMAN_Y,12632.5,18.2,-125.5,-9755.3,129.7
$MHEAD_RNG_PITCHd_Wd,125.9,228,-26.4,-16.667,-30.00,1390
$D_GRID,173
$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,-1.75,-161.4,91,1911,1527,1751,0.0,0.0,0,93,0.00,0.00,-70.18,0.000,16386,0.000,0.000,91,1911,2790,2804,2776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.77,-180.8,91,1912,2803,2777,3.0,-1.9,7,141,8.52,2.33,-27.45,0.000,18692,0.260,0.067,2021,3321,3598,3665,3532,0,0,0,0,0,0,25.32,25.95,26.55
$GC,323,-1.77,-180.8,2020,3321,3665,3535,52.0,-21.5,50,330,0.00,2.25,0.00,0.000,1030,0.000,0.047,2021,1917,3599,3665,3534,0,0,0,0,0,0,28.83,26.12,28.83
$GC,509,-1.77,-180.8,2019,1917,3664,3535,93.7,-21.8,69,515,0.00,2.28,0.00,0.000,260,0.000,0.054,2021,3325,3598,3664,3533,0,0,0,0,0,0,28.83,26.08,28.83
$GC,594,-1.77,-180.8,2020,3324,3664,3534,113.8,-24.8,85,600,0.00,2.25,0.00,0.000,1030,0.000,0.046,2021,1915,3599,3665,3534,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,629,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,629,begin apogee
$GC,637,-0.47,0.0,2020,2009,3665,3535,121.9,-23.2,89,790,0.93,0.00,141.77,0.545,10246,0.155,0.000,2300,2009,2859,2760,2958,0,0,0,0,0,0,25.57,28.83,24.51
$STATE,792,end apogee,CONTROL_FINISHED_OK
$STATE,792,begin climb
$GC,795,1.77,180.8,2300,2009,2759,2958,135.8,0.0,105,945,1.48,0.00,143.68,0.531,10502,0.093,0.000,2792,2009,2123,1945,2301,0,0,0,0,0,0,25.27,28.83,24.40
$GC,1124,1.83,180.8,2791,2009,1944,2291,100.2,16.9,152,1129,0.00,2.22,0.00,0.000,260,0.000,0.053,2792,3410,2118,1944,2292,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1225,1.83,180.8,2791,3410,1947,2284,82.7,17.9,171,1232,0.00,2.28,0.00,0.000,1030,0.000,0.045,2801,1999,2115,1947,2284,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1411,1.98,234.8,2801,1999,1947,2283,57.5,12.7,190,1461,0.12,0.00,44.30,0.493,10246,0.089,0.000,2854,1999,1900,1729,2072,0,0,0,0,0,0,26.28,28.83,24.98
$GC,1641,1.98,234.8,2854,1999,1731,2072,18.3,17.3,213,1646,0.00,2.28,0.00,0.000,260,0.000,0.052,2855,3405,1901,1731,2071,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1699,1.98,234.8,2854,3404,1733,2069,7.2,18.4,224,1706,0.10,2.28,0.00,0.000,5126,0.181,0.046,2842,1990,1901,1734,2069,0,0,0,0,0,0,25.83,26.02,28.83
$STATE,1722,end climb,SURFACE_DEPTH_REACHED
$STATE,1722,begin surface coast
$FINISH,0.8,1.021364
$STATE,1733,end surface coast,CONTROL_FINISHED_OK
$STATE,1733,begin surface
$SM_CCo,1753,25.90,0.048,0,0,1639,300.00
$SM_GC,1.55,7.45,0.10,25.90,0.047,0.112,0.048,91,1919,1639,-10.61,0.99,300.00,0,0,0,0,0,0,25.94,26.24,26.06
$IRIDIUM_FIX,4713.38,-12223.63,210921,065423
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.16
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,121.9,6.5
$SC_FREEKB,3969824
$24V_AH,24.40,8.981
$10V_AH,9.64,5.365
$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,18.600,18.450,329.750,25.900,0.000,0.000,0.000,191.075,2.750,0.000,18.168,462.887,544.339,404.856,559.796,187.641,33.280,849.689,0.000,353.143,0.000,5.429,0.000
$DEVICE_MAMPS,260.100,112.455,545.445,48.195,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1742.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,25.846,0.000,0.000,0.000
$MEM,203648
$DATA_FILE_SIZE,6823,228
$CAP_FILE_SIZE,41310,0
$CFSIZE,260034560,246398976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2978.40,0x239dd2,7,5
$CURRENT,0.068,352.5,1
$GPS,180714,214603,4725.896,-12222.658,10,2.2,30,18.1