version: 66.12
glider: 124
mission: 17
dive: 222
start: 7 22 114 2 5 6
data:
$ID,124
$MISSION,17
$DIVE,222
$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,4
$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,-310188.66
$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,29
$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
$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,48
$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
$GPS1,220714,020021,4726.136,-12224.030,13,2.1,33,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-61.2
$GPS2,220714,020401,4726.128,-12224.026,9,1.5,9,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.251,0.171
$KALMAN_X,-14986.1,-22.4,170.9,11115.0,-538.4
$KALMAN_Y,19519.8,1060.9,-366.1,-17269.8,-405.3
$MHEAD_RNG_PITCHd_Wd,79.1,1657,-25.0,-16.667,-28.75,1541
$D_GRID,193
$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,-180.8,91,1913,548,758,0.0,0.0,0,165,0.00,0.00,-141.02,0.000,16386,0.000,0.000,91,1914,3124,3186,3063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,170,-1.69,-180.8,93,1914,3187,3065,3.3,-2.3,14,197,8.60,2.22,-11.30,0.000,18948,0.256,0.067,2040,503,3601,3672,3531,0,0,0,0,0,0,25.25,26.10,26.75
$GC,233,-1.51,-180.8,2040,503,3673,3532,18.0,-22.2,25,241,0.15,2.25,0.00,0.000,3078,0.184,0.044,2077,1932,3602,3672,3532,0,0,0,0,0,0,25.74,26.15,28.83
$GC,420,-1.51,-180.8,2077,1932,3671,3532,54.2,-18.7,44,425,0.00,2.15,0.00,0.000,260,0.000,0.053,2077,3322,3601,3671,3532,0,0,0,0,0,0,28.83,26.11,28.83
$GC,495,-1.51,-180.8,2077,3321,3670,3532,67.8,-17.7,58,500,0.00,2.22,0.00,0.000,1030,0.000,0.044,2078,1913,3601,3670,3532,0,0,0,0,0,0,28.83,26.25,28.83
$GC,690,-1.51,-180.8,2077,1914,3667,3532,101.1,-15.9,78,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,1914,3599,3667,3532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,879,-1.51,-180.8,2078,1913,3664,3532,133.0,-16.9,97,885,0.00,2.17,0.00,0.000,516,0.000,0.053,2077,503,3598,3664,3532,0,0,0,0,0,0,28.83,26.20,28.83
$GC,909,-1.51,-180.8,2077,503,3664,3532,138.2,-17.1,102,915,0.00,2.22,0.00,0.000,1030,0.000,0.043,2077,1928,3598,3664,3532,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1099,-1.51,-180.8,2077,1928,3662,3532,170.0,-16.8,121,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,1928,3597,3662,3532,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1242,begin apogee
$GC,1250,-0.47,0.0,2078,2006,3661,3532,194.1,-14.9,136,1397,0.70,0.00,139.18,0.594,10246,0.132,0.000,2302,2006,2860,2773,2947,0,0,0,0,0,0,25.70,28.83,24.47
$STATE,1399,end apogee,CONTROL_FINISHED_OK
$STATE,1399,begin climb
$GC,1402,1.69,180.8,2302,2006,2770,2947,202.8,0.0,151,1547,1.40,0.00,138.80,0.567,10502,0.086,0.000,2781,2006,2122,1968,2277,0,0,0,0,0,0,25.37,28.83,24.39
$GC,1726,1.71,204.8,2780,2005,1969,2274,164.2,15.1,194,1752,0.00,2.33,19.70,0.534,8708,0.000,0.051,2786,583,2023,1872,2175,0,0,0,0,0,0,28.83,25.75,24.78
$GC,1776,1.73,214.8,2786,582,1872,2173,156.5,16.0,203,1793,0.00,2.25,9.15,0.509,9222,0.000,0.041,2786,1988,1983,1832,2134,0,0,0,0,0,0,28.83,25.86,24.71
$GC,1972,1.74,228.4,2786,1988,1831,2130,124.2,15.8,224,1990,0.00,0.00,12.10,0.519,8454,0.000,0.000,2786,1988,1926,1778,2075,0,0,0,0,0,0,28.83,28.83,24.92
$GC,2173,1.86,264.1,2786,1988,1777,2072,93.7,14.3,245,2204,0.10,0.00,28.58,0.523,10246,0.096,0.000,2837,1988,1784,1638,1930,0,0,0,0,0,0,26.39,28.83,24.98
$GC,2383,1.86,264.1,2837,1988,1638,1924,54.5,17.0,266,2389,0.10,2.25,0.00,0.000,4356,0.158,0.050,2813,3424,1782,1641,1924,0,0,0,0,0,0,26.17,26.03,28.83
$GC,2429,1.86,264.1,2813,3424,1639,1922,46.6,17.8,274,2434,0.00,2.28,0.00,0.000,1030,0.000,0.043,2821,1984,1781,1640,1923,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2624,1.93,269.0,2821,1984,1640,1922,15.9,16.3,294,2631,0.00,0.00,1.55,0.075,8198,0.000,0.000,2821,1984,1766,1626,1906,0,0,0,0,0,0,28.83,28.83,26.03
$STATE,2700,end climb,SURFACE_DEPTH_REACHED
$STATE,2700,begin surface coast
$FINISH,0.6,1.021371
$STATE,2711,end surface coast,CONTROL_FINISHED_OK
$STATE,2711,begin surface
$SM_CCo,2735,12.60,0.048,0,0,1638,300.00
$SM_GC,2.47,7.28,0.10,12.60,0.045,0.106,0.048,96,1914,1638,-10.58,0.76,300.00,0,0,0,0,0,0,26.12,26.51,26.22
$IRIDIUM_FIX,4707.04,-12227.30,240921,123116
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.23
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,19.70
$XPDR_PINGS,166
$SC_FREEKB,3934496
$24V_AH,24.39,14.909
$10V_AH,9.35,8.879
$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,18.325,22.550,349.050,12.600,0.000,0.000,0.000,0.000,44.500,0.000,10.931,646.818,1092.067,469.357,496.772,124.338,33.293,781.867,0.000,472.081,0.000,25.243,0.000
$DEVICE_MAMPS,255.510,112.455,593.640,48.195,0.000,0.000,0.000,0.000,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2691.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.742,0.000,0.000,0.000
$MEM,203724
$DATA_FILE_SIZE,10127,303
$CAP_FILE_SIZE,190569,0
$CFSIZE,260034560,242987008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,16647.98,0x239dd2,7,5
$CURRENT,0.097,283.7,1
$GPS,220714,025222,4726.117,-12223.638,40,1.3,43,18.1