version: 66.12
glider: 124
mission: 17
dive: 22
start: 7 15 114 7 9 17
data:
$ID,124
$MISSION,17
$DIVE,22
$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,-307880.69
$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,34
$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
$GPS1,150714,070303,4726.474,-12223.410,13,2.7,33,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-67.8
$GPS2,150714,070812,4726.491,-12223.413,11,1.3,16,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.632,-12221.732
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.242,-0.184
$KALMAN_X,-3957.0,-353.1,-497.9,1823.1,-352.6
$KALMAN_Y,2082.3,244.7,692.0,597.4,270.5
$MHEAD_RNG_PITCHd_Wd,116.7,2640,-25.0,-16.667,-28.75,1541
$D_GRID,213
$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,-180.8,93,1918,1535,1744,0.0,0.0,0,102,0.00,0.00,-79.97,0.000,16386,0.000,0.000,94,1918,2933,2963,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,93,1920,2963,2903,3.4,-1.8,8,142,8.50,0.00,-20.25,0.000,18438,0.258,0.000,2035,1880,3600,3666,3535,0,0,0,0,0,0,25.43,28.83,26.57
$GC,324,-1.60,-180.8,2034,1880,3666,3536,51.8,-23.7,30,330,0.10,2.22,0.00,0.000,2564,0.216,0.056,2057,513,3601,3666,3536,0,0,0,0,0,0,26.10,25.99,28.83
$GC,363,-1.60,-180.8,2057,513,3666,3536,60.4,-20.9,37,371,0.00,2.25,0.00,0.000,1030,0.000,0.048,2057,1917,3601,3666,3536,0,0,0,0,0,0,28.83,26.08,28.83
$GC,550,-1.60,-180.8,2057,1917,3665,3539,94.0,-16.2,56,555,0.00,2.22,0.00,0.000,260,0.000,0.059,2057,3329,3600,3665,3536,0,0,0,0,0,0,28.83,26.02,28.83
$GC,598,-1.60,-180.8,2057,3329,3665,3536,102.5,-17.5,65,605,0.00,2.28,0.00,0.000,1030,0.000,0.049,2056,1913,3601,3665,3537,0,0,0,0,0,0,28.83,26.13,28.83
$GC,784,-1.60,-180.8,2057,1913,3664,3536,134.0,-16.0,84,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,1913,3600,3664,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,965,-1.60,-180.8,2056,1913,3664,3537,164.6,-18.2,102,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,1913,3600,3664,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1144,-1.60,-180.8,2056,1913,3663,3536,196.4,-17.2,120,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,1913,3599,3663,3536,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1175,begin apogee
$GC,1183,-0.47,0.0,2056,2007,3663,3536,201.7,-17.5,123,1336,0.80,0.00,143.82,0.608,10246,0.141,0.000,2305,2007,2858,2753,2964,0,0,0,0,0,0,25.58,28.83,24.38
$STATE,1338,end apogee,CONTROL_FINISHED_OK
$STATE,1338,begin climb
$GC,1341,1.69,180.8,2305,2007,2752,2962,212.0,0.0,139,1498,1.42,2.40,148.15,0.577,10500,0.088,0.056,2780,3405,2120,1947,2293,0,0,0,0,0,0,25.17,24.95,24.25
$GC,1536,1.69,180.8,2780,3405,1949,2290,193.7,17.4,175,1543,0.00,2.35,0.00,0.000,1030,0.000,0.047,2790,1988,2119,1949,2290,0,0,0,0,0,0,28.83,25.29,28.83
$GC,1723,1.69,180.8,2790,1988,1951,2284,160.9,19.1,194,1728,0.00,2.22,0.00,0.000,516,0.000,0.057,2798,595,2118,1952,2284,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1750,1.69,180.8,2798,595,1952,2284,155.6,17.7,199,1757,0.00,2.28,0.00,0.000,1030,0.000,0.046,2798,2004,2117,1952,2283,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1938,1.69,180.8,2798,2004,1952,2280,124.0,16.7,218,1943,0.00,2.25,0.00,0.000,260,0.000,0.057,2798,3409,2115,1951,2280,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1983,1.64,192.5,2798,3409,1956,2278,116.8,15.9,226,2000,0.17,2.28,10.02,0.500,13318,0.161,0.047,2764,1999,2073,1912,2235,0,0,0,0,0,0,25.65,25.96,25.10
$GC,2189,1.66,212.6,2764,1999,1911,2231,85.8,15.3,248,2208,0.00,0.00,16.67,0.516,8198,0.000,0.000,2764,1999,1993,1832,2154,0,0,0,0,0,0,28.83,28.83,25.14
$GC,2389,1.82,271.8,2763,1999,1831,2149,58.8,12.7,268,2446,0.12,2.38,50.85,0.513,10500,0.091,0.054,2824,3411,1750,1592,1908,0,0,0,0,0,0,26.23,25.60,24.93
$GC,2491,1.82,271.8,2823,3411,1596,1905,41.0,21.1,287,2499,0.12,2.33,0.00,0.000,5126,0.171,0.048,2805,1997,1751,1597,1905,0,0,0,0,0,0,25.53,25.72,28.83
$GC,2679,1.90,280.2,2805,1997,1597,1905,9.5,16.1,306,2691,0.00,2.30,3.15,0.060,8708,0.000,0.060,2811,597,1719,1568,1871,0,0,0,0,0,0,28.83,25.84,25.87
$STATE,2722,end climb,SURFACE_DEPTH_REACHED
$STATE,2722,begin surface coast
$FINISH,0.9,1.021577
$STATE,2736,end surface coast,CONTROL_FINISHED_OK
$STATE,2736,begin surface
$SM_CCo,2758,8.07,0.049,0,0,1638,300.00
$SM_GC,3.08,7.43,2.20,8.07,0.050,0.048,0.049,90,1926,1638,-10.61,-0.76,300.00,0,0,0,0,0,0,25.89,25.95,25.97
$IRIDIUM_FIX,4707.04,-12222.91,170921,164623
$TT8_MAMPS,0.028462,0.028462
$HUMID,67.79
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.20
$XPDR_PINGS,6
$SC_FREEKB,4011296
$24V_AH,24.25,2.341
$10V_AH,9.82,1.489
$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,18.675,32.125,372.675,8.075,0.000,0.000,0.000,148.000,4.250,0.000,17.264,684.310,1096.687,438.544,662.251,210.957,33.273,915.497,0.000,493.958,0.000,20.988,0.000
$DEVICE_MAMPS,257.805,81.855,608.175,48.960,0.000,0.000,0.000,119.340,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2744.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.917,0.000,0.000,0.000
$MEM,204180
$DATA_FILE_SIZE,10143,316
$CAP_FILE_SIZE,59493,0
$CFSIZE,260034560,250167296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,3129.89,0x239dd2,7,5
$CURRENT,0.108,312.7,1
$GPS,150714,075618,4726.312,-12223.173,10,1.6,10,18.1