version: 66.12
glider: 217
mission: 3
dive: 2
start: 9 18 114 17 44 53
data:
$ID,217
$MISSION,3
$DIVE,2
$N_DIVES,2
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,100
$D_NO_BLEED,50
$D_BOOST,25
$T_BOOST,2
$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,30
$T_MISSION,40
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52199
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,589.02258
$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,5
$N_GPS,25
$T_GPS_ALMANAC,0
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3880
$C_PITCH,3106
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,22.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$ROLL_MIN,240
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2942
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.110779
$PRESSURE_SLOPE,0.0001155691
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.1
$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,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043902649
$SEABIRD_T_H,0.00063436845
$SEABIRD_T_I,2.5093383e-05
$SEABIRD_T_J,2.9521423e-06
$SEABIRD_C_G,-9.69524
$SEABIRD_C_H,1.1253856
$SEABIRD_C_I,-0.0011212705
$SEABIRD_C_J,0.00015718494
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,180914,174201,6703.235,-5644.762,4,1.0,4,-32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-70.1
$GPS2,180914,174418,6703.246,-5644.783,5,1.0,6,-32.5
$SPEED_LIMITS,0.119,0.261
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,283.2,2367,-18.2,-10.000,-20.96,2235
$D_GRID,486
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-1.03,-146.0,189,2143,596,499,0.0,0.0,0,122,0.00,0.00,-103.30,0.000,16386,0.000,0.000,185,2144,3246,3249,3243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-1.03,-146.0,184,2144,3250,3245,3.7,-5.6,10,153,11.43,2.45,-5.10,0.000,18692,0.402,0.107,2758,3546,3539,3563,3515,0,0,0,0,0,0,14.64,14.83,15.07
$GC,388,-0.99,-146.0,2758,3546,3565,3515,58.6,-16.1,59,395,0.00,2.33,0.00,0.000,1030,0.000,0.058,2757,2136,3540,3565,3515,0,0,0,0,0,0,28.83,14.88,28.83
$STATE,597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,597,begin apogee
$GC,601,-0.22,0.0,2758,2048,3566,3515,91.2,-15.7,70,722,0.95,0.00,108.15,1.216,10246,0.247,0.000,3026,2048,2945,3011,2879,0,0,0,0,1,0,14.73,28.83,13.96
$STATE,723,end apogee,CONTROL_FINISHED_OK
$STATE,723,begin climb
$GC,724,1.03,146.0,3026,2048,3014,2880,97.5,0.0,74,849,1.25,2.55,110.72,0.936,11012,0.164,0.081,3418,3453,2336,2397,2276,0,0,0,0,0,0,14.41,14.32,13.97
$GC,1084,1.00,181.6,3418,3452,2392,2272,81.1,8.4,139,1117,0.00,2.33,26.98,0.903,9222,0.000,0.062,3423,2067,2198,2257,2139,0,0,0,0,0,0,28.83,14.71,14.21
$GC,1430,1.00,213.9,3423,2066,2243,2130,51.3,8.5,156,1461,0.00,2.50,25.17,0.882,8452,0.000,0.085,3423,3461,2061,2117,2005,0,0,0,0,0,0,28.83,14.69,14.32
$GC,1562,0.94,214.5,3422,3461,2109,2001,39.0,10.0,180,1569,0.00,2.35,0.00,0.000,1030,0.000,0.063,3423,2060,2055,2109,2001,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1876,1.04,280.6,3424,2059,2108,1999,13.8,7.0,204,1918,0.00,2.42,31.20,0.122,8452,0.000,0.087,3423,3456,1805,1866,1744,0,0,0,0,0,0,28.83,14.79,14.77
$GC,1977,1.01,280.6,3423,3455,1871,1749,4.5,11.0,221,1988,0.00,2.35,1.65,0.087,9222,0.000,0.064,3423,2055,1799,1860,1739,0,0,0,0,0,0,28.83,14.81,14.80
$STATE,2004,end climb,SURFACE_DEPTH_REACHED
$STATE,2004,begin surface coast
$FINISH,0.9,1.025784
$STATE,2015,end surface coast,CONTROL_FINISHED_OK
$STATE,2015,begin surface
$SM_CCo,2031,148.65,0.083,0,0,539,589.21
$SM_GC,1.28,9.18,0.15,148.65,0.085,0.121,0.083,210,2153,539,-9.01,-1.19,589.21,0,0,0,0,0,0,14.79,14.83,14.77
$RAFOS_CLK,6
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5647.69,180914,173807
$TT8_MAMPS,0.03745,0.03745
$HUMID,44.21
$INTERNAL_PRESSURE,8.6308
$TCM_TEMP,14.20
$XPDR_PINGS,0
$SC_FREEKB,4019424
$24V_AH,13.96,5.143
$10V_AH,13.23,0.000
$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,22.800,19.525,303.875,148.650,0.000,0.000,0.000,0.000,0.000,0.000,6.925,582.465,739.949,558.524,374.346,15.501,0.000,783.702,0.000,338.697,0.000,0.539,0.000
$DEVICE_MAMPS,401.625,148.410,1215.585,83.385,0.000,0.000,0.000,0.000,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2000.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.080,0.000,0.000,0.000
$MEM,145176
$DATA_FILE_SIZE,6824,225
$CAP_FILE_SIZE,48881,0
$CFSIZE,1024409600,1017348096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,2385.37,0x23769e,7,5
$SOUNDSPEED,1460.8
$EKF,2264,4023.274414,-3404.741699,0.900325,-0.078605,-0.241802,-0.079460,0.000033,0.000215,0.000099,0.003225,0.003225,0.000050
$CURRENT,0.088,325.49,1
$GPS,180914,182234,6703.354,-5644.986,32,0.9,32,-32.5