version: 66.12
glider: 124
mission: 17
dive: 175
start: 7 20 114 8 49 37
data:
$ID,124
$MISSION,17
$DIVE,175
$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,-309273.25
$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,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
$GPS1,200714,084225,4725.954,-12222.765,15,2.0,15,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-67.4
$GPS2,200714,084831,4726.034,-12222.807,17,1.7,17,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.170,-0.233
$KALMAN_X,-13393.9,164.0,221.6,10789.7,-189.0
$KALMAN_Y,15470.2,-141.9,-241.3,-12322.4,188.9
$MHEAD_RNG_PITCHd_Wd,126.8,212,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.75,-161.4,96,1948,1534,1747,0.0,0.0,0,94,0.00,0.00,-70.75,0.000,16386,0.000,0.000,96,1948,2823,2848,2799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-1.77,-180.8,97,1948,2849,2800,3.2,-1.8,7,142,8.48,2.35,-24.30,0.000,18692,0.257,0.070,2024,3340,3601,3671,3531,0,0,0,0,0,0,25.28,25.98,26.58
$GC,179,-1.67,-180.8,2020,3340,3671,3533,14.8,-20.7,21,186,0.12,2.28,0.00,0.000,3078,0.190,0.048,2050,1922,3602,3671,3533,0,0,0,0,0,0,25.75,26.06,28.83
$GC,374,-1.67,-180.8,2049,1922,3670,3533,59.2,-21.2,41,380,0.00,2.20,0.00,0.000,516,0.000,0.054,2051,508,3602,3671,3533,0,0,0,0,0,0,28.83,26.09,28.83
$GC,389,-1.67,-180.8,2050,509,3671,3533,62.0,-19.3,43,394,0.00,2.25,0.00,0.000,1030,0.000,0.044,2051,1934,3601,3670,3533,0,0,0,0,0,0,28.83,26.16,28.83
$GC,583,-1.67,-180.8,2050,1934,3671,3533,100.4,-19.0,63,588,0.00,2.17,0.00,0.000,260,0.000,0.054,2051,3329,3602,3671,3533,0,0,0,0,0,0,28.83,26.13,28.83
$GC,651,-1.67,-180.8,2050,3329,3671,3533,112.3,-17.2,76,657,0.00,2.25,0.00,0.000,1030,0.000,0.046,2051,1915,3602,3671,3533,0,0,0,0,0,0,28.83,26.25,28.83
$GC,837,-1.67,-180.8,2050,1915,3671,3533,146.6,-19.0,95,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1915,3602,3671,3533,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,985,begin apogee
$GC,993,-0.47,0.0,2050,2008,3670,3533,174.7,-18.7,110,1149,0.80,0.00,143.48,0.582,10246,0.139,0.000,2302,2009,2857,2764,2951,0,0,0,0,0,0,25.70,28.83,24.43
$STATE,1151,end apogee,CONTROL_FINISHED_OK
$STATE,1151,begin climb
$GC,1154,1.77,180.8,2302,2009,2764,2951,184.9,0.0,126,1311,1.45,2.40,147.05,0.558,10756,0.086,0.052,2806,590,2120,1946,2294,0,0,0,0,0,0,25.29,25.10,24.34
$GC,1325,1.81,215.4,2805,590,1946,2292,171.1,14.1,155,1361,0.00,2.33,29.10,0.538,9222,0.000,0.042,2806,2007,1980,1802,2159,0,0,0,0,0,0,28.83,25.32,24.40
$GC,1551,1.89,220.2,2805,2007,1803,2152,135.0,16.3,181,1562,0.00,2.28,3.83,0.410,8452,0.000,0.053,2805,3409,1965,1792,2138,0,0,0,0,0,0,28.83,25.83,24.56
$GC,1629,1.89,220.2,2805,3409,1796,2137,122.1,17.5,195,1634,0.00,2.28,0.00,0.000,1030,0.000,0.046,2815,1997,1966,1796,2137,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1823,1.89,220.2,2815,1997,1796,2137,87.9,18.0,215,1828,0.00,2.22,0.00,0.000,516,0.000,0.055,2826,579,1966,1796,2137,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1857,1.89,220.2,2826,579,1796,2136,81.8,18.3,221,1864,0.00,2.25,0.00,0.000,1030,0.000,0.042,2826,2004,1966,1796,2136,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2053,1.89,220.2,2826,2004,1796,2135,47.7,17.8,241,2059,0.00,2.20,0.00,0.000,260,0.000,0.052,2826,3415,1965,1796,2135,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2092,1.89,220.2,2826,3416,1798,2131,40.6,17.3,248,2099,0.00,2.28,0.00,0.000,1030,0.000,0.044,2836,1983,1964,1798,2131,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2278,1.98,235.6,2836,1982,1798,2132,12.3,15.5,267,2290,0.00,0.00,6.50,0.067,8454,0.000,0.000,2836,1983,1901,1736,2067,0,0,0,0,0,0,28.83,28.83,26.11
$STATE,2335,end climb,SURFACE_DEPTH_REACHED
$STATE,2336,begin surface coast
$FINISH,0.8,1.020925
$STATE,2346,end surface coast,CONTROL_FINISHED_OK
$STATE,2346,begin surface
$SM_CCo,2367,26.48,0.049,0,0,1638,300.00
$SM_GC,1.46,7.40,0.10,26.48,0.050,0.105,0.049,91,1914,1638,-10.60,0.74,300.00,0,0,0,0,0,0,26.10,26.52,26.24
$IRIDIUM_FIX,4716.56,-12225.34,220921,183001
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.86
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.50
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,161.5,27.4
$SC_FREEKB,3952544
$24V_AH,24.34,11.820
$10V_AH,9.66,7.005
$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,18.250,32.025,329.950,26.475,0.000,0.000,0.000,192.900,4.500,0.000,18.494,589.342,905.439,421.457,642.557,219.204,33.276,912.685,0.000,432.183,0.000,17.581,0.000
$DEVICE_MAMPS,257.040,104.805,582.165,48.960,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2356.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.277,0.000,0.000,0.000
$MEM,203672
$DATA_FILE_SIZE,10156,275
$CAP_FILE_SIZE,52955,0
$CFSIZE,260034560,244768768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2934.00,0x239dd2,7,5
$CURRENT,0.131,315.6,1
$GPS,200714,093030,4725.870,-12222.675,8,1.8,13,18.1