version: 66.12
glider: 124
mission: 17
dive: 20
start: 7 15 114 5 24 31
data:
$ID,124
$MISSION,17
$DIVE,20
$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,240
$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,-307878.19
$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,22
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,300
$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
$GPS1,150714,051602,4726.483,-12222.952,14,3.3,34,18.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-68.3
$GPS2,150714,052324,4726.597,-12223.010,10,1.1,15,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,HEADING
$TGT_LATLONG,4721.197,-12236.814
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.008,-0.304
$KALMAN_X,-3219.5,-263.7,-257.0,1277.9,-363.5
$KALMAN_Y,1645.0,79.9,301.7,1776.9,507.5
$MHEAD_RNG_PITCHd_Wd,181.9,20000,-25.0,-16.667,-28.75,1541
$D_GRID,194
$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,-1.69,-180.8,90,1912,1539,1748,0.0,0.0,0,102,0.00,0.00,-80.00,0.000,16386,0.000,0.000,90,1912,2970,3004,2936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,90,1913,3004,2937,3.5,-1.9,8,141,8.55,2.35,-16.92,0.000,18692,0.259,0.070,2037,3329,3600,3666,3535,0,0,0,0,0,0,25.37,25.90,26.51
$GC,171,-1.55,-180.8,2037,3329,3666,3536,15.8,-22.2,19,178,0.12,2.30,0.00,0.000,3078,0.186,0.050,2067,1913,3601,3666,3536,0,0,0,0,0,0,25.69,25.98,28.83
$GC,357,-1.55,-180.8,2067,1913,3665,3537,55.8,-17.2,38,362,0.00,2.30,0.00,0.000,260,0.000,0.057,2068,3325,3601,3666,3537,0,0,0,0,0,0,28.83,25.95,28.83
$GC,416,-1.55,-180.8,2067,3325,3663,3537,65.2,-14.3,49,424,0.00,2.28,0.00,0.000,1030,0.000,0.048,2067,1917,3601,3665,3537,0,0,0,0,0,0,28.83,26.06,28.83
$GC,602,-1.55,-180.8,2067,1917,3664,3537,98.7,-18.8,68,607,0.00,2.22,0.00,0.000,516,0.000,0.060,2067,507,3600,3664,3537,0,0,0,0,0,0,28.83,26.00,28.83
$GC,690,-1.55,-180.8,2067,507,3664,3537,115.9,-19.7,85,698,0.00,2.25,0.00,0.000,1030,0.000,0.047,2067,1917,3600,3664,3537,0,0,0,0,0,0,28.83,26.12,28.83
$GC,877,-1.55,-180.8,2067,1917,3663,3537,145.9,-13.6,104,882,0.00,2.28,0.00,0.000,516,0.000,0.057,2067,508,3600,3663,3537,0,0,0,0,0,0,28.83,26.05,28.83
$GC,946,-1.55,-180.8,2067,509,3663,3537,156.8,-15.5,117,953,0.00,2.25,0.00,0.000,1030,0.000,0.048,2067,1924,3600,3663,3537,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1132,-1.55,-180.8,2067,1924,3662,3537,184.8,-16.0,136,1138,0.00,2.22,0.00,0.000,260,0.000,0.059,2067,3337,3599,3662,3537,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1181,-1.62,-180.8,2067,3337,3662,3537,192.7,-16.1,144,1187,0.00,2.28,0.00,0.000,1030,0.000,0.049,2067,1914,3600,3663,3537,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,1192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1192,begin apogee
$GC,1200,-0.47,0.0,2067,2006,3662,3537,194.9,-15.9,146,1357,0.75,0.00,144.32,0.597,10246,0.135,0.000,2304,2006,2857,2751,2963,0,0,0,0,0,0,25.61,28.83,24.40
$STATE,1359,end apogee,CONTROL_FINISHED_OK
$STATE,1359,begin climb
$GC,1362,1.69,180.8,2304,2006,2751,2962,203.6,0.0,162,1517,1.40,2.33,144.65,0.571,10500,0.087,0.054,2773,3404,2118,1944,2292,0,0,0,0,0,0,25.20,24.97,24.26
$GC,1552,1.73,213.5,2773,3404,1945,2289,187.1,14.5,198,1587,0.00,2.35,27.02,0.550,9222,0.000,0.048,2784,1986,1986,1811,2162,0,0,0,0,0,0,28.83,25.29,24.43
$GC,1776,1.73,216.4,2783,1986,1819,2159,151.0,16.5,224,1788,0.00,2.30,2.92,0.328,8708,0.000,0.059,2786,595,1981,1813,2149,0,0,0,0,0,0,28.83,25.72,24.56
$GC,1812,1.74,225.3,2786,595,1817,2149,145.1,16.1,230,1828,0.00,2.28,10.23,0.524,9222,0.000,0.047,2786,2004,1941,1775,2107,0,0,0,0,0,0,28.83,25.79,24.82
$GC,2017,1.74,225.3,2786,2004,1779,2104,106.5,18.6,252,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2004,1942,1779,2106,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2198,1.76,239.9,2786,2004,1779,2106,76.2,15.7,270,2216,0.00,2.30,13.23,0.515,8452,0.000,0.056,2786,3409,1880,1718,2043,0,0,0,0,0,0,28.83,25.97,25.13
$GC,2240,1.76,239.9,2786,3409,1718,2040,68.9,17.9,276,2245,0.00,2.28,0.00,0.000,1030,0.000,0.047,2796,2000,1879,1718,2040,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2434,1.76,239.9,2795,2000,1718,2039,34.6,18.5,296,2439,0.00,2.30,0.00,0.000,260,0.000,0.057,2796,3411,1878,1718,2039,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2482,1.76,239.9,2795,3412,1719,2038,25.5,18.1,305,2489,0.00,2.28,0.00,0.000,1030,0.000,0.050,2803,1999,1879,1720,2038,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,2635,end climb,SURFACE_DEPTH_REACHED
$STATE,2635,begin surface coast
$FINISH,0.9,1.007545
$STATE,2646,end surface coast,CONTROL_FINISHED_OK
$STATE,2647,begin surface
$SM_CCo,2667,23.65,0.048,0,0,1637,300.00
$SM_GC,1.45,7.32,0.12,23.65,0.049,0.101,0.048,94,1917,1637,-10.58,0.76,300.00,0,0,0,0,0,0,26.05,26.33,26.14
$IRIDIUM_FIX,4710.21,-12224.61,170921,150858
$TT8_MAMPS,0.029211,0.029211
$HUMID,68.23
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.30
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,190.5,47.6
$SC_FREEKB,4012064
$24V_AH,24.26,2.209
$10V_AH,9.86,1.415
$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,18.150,41.425,342.375,23.650,0.000,0.000,0.000,222.700,5.250,0.000,16.179,687.267,1072.911,440.723,744.532,208.505,33.287,998.295,0.000,488.764,0.000,19.545,0.000
$DEVICE_MAMPS,259.335,100.980,597.465,48.195,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2654.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.008,0.000,0.000,0.000
$MEM,204484
$DATA_FILE_SIZE,10109,322
$CAP_FILE_SIZE,61284,0
$CFSIZE,260034560,250245120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,2700.30,0x239dd2,7,5
$CURRENT,0.293,308.1,1
$GPS,150714,061019,4726.484,-12223.682,12,2.0,12,18.1