version: 66.12
glider: 124
mission: 17
dive: 221
start: 7 21 114 21 27 37
data:
$ID,124
$MISSION,17
$DIVE,221
$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,-309442.94
$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,35
$R_STBD_OVSHOOT,32
$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,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
$GPS1,210714,212031,4726.156,-12222.710,10,1.7,10,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-69.2
$GPS2,210714,212631,4726.120,-12222.775,9,1.8,9,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.104,0.269
$KALMAN_X,-13811.8,16.9,121.8,11494.9,95.6
$KALMAN_Y,19698.9,1144.9,-70.0,-17830.7,-495.6
$MHEAD_RNG_PITCHd_Wd,135.2,355,-26.4,-16.667,-30.00,1390
$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,-1.75,-161.4,91,1918,1528,1762,0.0,0.0,0,94,0.00,0.00,-70.55,0.000,16386,0.000,0.000,92,1918,2850,2880,2821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-1.77,-180.8,92,1919,2880,2822,3.4,-2.0,7,136,8.50,2.22,-21.08,0.000,18948,0.257,0.064,2020,508,3600,3674,3527,0,0,0,0,0,0,25.22,26.01,26.60
$GC,216,-1.65,-180.8,2019,508,3675,3529,28.5,-24.5,29,223,0.12,2.25,0.00,0.000,3078,0.205,0.044,2048,1926,3602,3675,3529,0,0,0,0,0,0,25.73,26.08,28.83
$GC,412,-1.65,-180.8,2049,1927,3675,3529,69.0,-18.8,49,418,0.00,2.28,0.00,0.000,516,0.000,0.054,2049,511,3602,3675,3529,0,0,0,0,0,0,28.83,26.10,28.83
$GC,477,-1.65,-180.8,2048,510,3674,3530,83.6,-22.4,61,484,0.00,2.22,0.00,0.000,1030,0.000,0.044,2049,1917,3601,3674,3529,0,0,0,0,0,0,28.83,26.20,28.83
$GC,676,-1.65,-180.8,2049,1917,3673,3529,121.4,-18.3,81,682,0.00,2.20,0.00,0.000,260,0.000,0.054,2048,3330,3601,3673,3529,0,0,0,0,0,0,28.83,26.13,28.83
$GC,745,-1.65,-180.8,2048,3330,3673,3530,134.5,-18.7,93,751,0.00,2.22,0.00,0.000,1030,0.000,0.045,2049,1920,3601,3673,3530,0,0,0,0,0,0,28.83,26.27,28.83
$GC,940,-1.65,-180.8,2049,1920,3671,3530,172.0,-18.3,113,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,1920,3601,3672,3530,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,966,begin apogee
$GC,975,-0.47,0.0,2048,2011,3672,3530,177.5,-18.2,116,1125,0.82,0.00,143.55,0.581,10246,0.141,0.000,2307,2012,2859,2765,2953,0,0,0,0,0,0,25.65,28.83,24.42
$STATE,1127,end apogee,CONTROL_FINISHED_OK
$STATE,1127,begin climb
$GC,1130,1.77,180.8,2307,2012,2763,2952,184.7,0.0,131,1286,1.42,2.45,143.07,0.555,11012,0.078,0.052,2810,594,2120,1943,2298,0,0,0,0,0,0,25.29,25.13,24.34
$GC,1333,1.77,184.8,2809,594,1946,2298,166.1,16.4,169,1345,0.00,2.30,3.60,0.388,9222,0.000,0.042,2809,2007,2107,1932,2283,0,0,0,0,0,0,28.83,25.51,24.33
$GC,1525,1.79,193.5,2809,2007,1938,2284,135.0,16.0,189,1541,0.00,2.25,9.25,0.513,8452,0.000,0.054,2809,3412,2070,1899,2242,0,0,0,0,0,0,28.83,25.85,24.78
$GC,1626,1.79,194.3,2810,3412,1899,2239,117.9,16.6,208,1632,0.00,2.28,0.00,0.000,1030,0.000,0.045,2820,1990,2070,1900,2240,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1812,1.79,197.0,2819,1990,1899,2238,87.7,16.5,227,1823,0.00,2.33,3.35,0.373,8452,0.000,0.052,2819,3422,2058,1890,2227,0,0,0,0,0,0,28.83,26.07,24.60
$GC,1861,1.79,199.0,2819,3422,1894,2227,79.5,16.5,236,1875,0.12,2.28,3.25,0.368,13318,0.165,0.044,2798,1988,2051,1884,2218,0,0,0,0,0,0,25.89,26.13,24.65
$GC,2065,1.91,218.8,2798,1988,1887,2218,50.6,15.2,257,2086,0.10,0.00,18.30,0.512,10246,0.103,0.000,2844,1988,1969,1802,2137,0,0,0,0,0,0,26.45,28.83,25.08
$GC,2265,1.91,218.8,2843,1988,1807,2135,17.3,17.4,277,2271,0.00,2.17,0.00,0.000,516,0.000,0.054,2855,597,1970,1806,2135,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2304,1.91,218.8,2854,597,1807,2135,10.3,17.4,284,2311,0.12,2.22,0.00,0.000,5126,0.147,0.043,2822,2006,1971,1807,2135,0,0,0,0,0,0,25.98,26.19,28.83
$STATE,2367,end climb,SURFACE_DEPTH_REACHED
$STATE,2367,begin surface coast
$FINISH,0.9,1.013185
$STATE,2391,end surface coast,CONTROL_FINISHED_OK
$STATE,2391,begin surface
$SM_CCo,2412,32.90,0.049,0,0,1639,300.00
$SM_GC,1.45,7.35,0.17,32.90,0.048,0.074,0.049,91,1930,1639,-10.60,1.16,300.00,0,0,0,0,0,0,26.08,26.39,26.18
$IRIDIUM_FIX,4657.54,-12223.17,240921,071337
$TT8_MAMPS,0.029211,0.029211
$HUMID,65.19
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.40
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,141.2,53.2
$SC_FREEKB,3934880
$24V_AH,24.33,14.674
$10V_AH,9.33,8.698
$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,18.575,32.050,324.375,32.900,0.000,0.000,0.000,194.325,4.000,0.000,10.250,626.362,890.161,422.018,641.226,244.287,33.268,923.318,0.000,454.495,0.000,14.524,0.000
$DEVICE_MAMPS,257.040,74.205,581.400,48.960,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2402.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.281,0.000,0.000,0.000
$MEM,204044
$DATA_FILE_SIZE,10157,293
$CAP_FILE_SIZE,55483,0
$CFSIZE,260034560,243159040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2576.24,0x239dd2,7,5
$CURRENT,0.065,130.1,1
$GPS,210714,220935,4725.763,-12222.418,11,1.5,27,18.1