version: 66.12
glider: 124
mission: 17
dive: 53
start: 7 16 114 7 30 41
data:
$ID,124
$MISSION,17
$DIVE,53
$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,-307919.44
$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,24
$R_STBD_OVSHOOT,30
$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
$GPS1,160714,072403,4726.623,-12223.767,13,2.2,33,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-68.1
$GPS2,160714,072936,4726.690,-12223.800,10,1.4,15,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.247,-0.177
$KALMAN_X,-7201.1,-165.3,-172.0,4076.9,-514.5
$KALMAN_Y,6379.2,416.5,413.5,-3228.7,344.5
$MHEAD_RNG_PITCHd_Wd,109.4,1938,-25.0,-16.667,-28.75,1541
$D_GRID,229
$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,-180.8,94,1925,1532,1748,0.0,0.0,0,102,0.00,0.00,-79.90,0.000,16386,0.000,0.000,94,1925,2936,2967,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,94,1925,2967,2907,3.4,-2.1,8,141,8.50,2.33,-18.50,0.000,18948,0.258,0.073,2040,504,3600,3666,3535,0,0,1,0,0,0,25.37,25.58,26.51
$GC,182,-1.51,-180.8,2040,504,3667,3536,17.3,-21.0,21,190,0.15,2.28,0.00,0.000,3078,0.189,0.048,2076,1917,3601,3667,3536,0,0,0,0,0,0,25.64,26.01,28.83
$GC,369,-1.51,-180.8,2076,1917,3667,3537,55.6,-15.7,40,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,1917,3601,3667,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,550,-1.51,-180.8,2076,1917,3667,3536,88.2,-21.3,58,555,0.00,2.22,0.00,0.000,260,0.000,0.058,2076,3329,3602,3667,3537,0,0,0,0,0,0,28.83,26.03,28.83
$GC,625,-1.60,-180.8,2076,3329,3666,3537,100.4,-13.6,72,631,0.00,2.28,0.00,0.000,1030,0.000,0.049,2077,1914,3602,3667,3537,0,0,0,0,0,0,28.83,26.15,28.83
$GC,820,-1.60,-180.8,2077,1914,3666,3537,128.8,-16.3,92,825,0.00,2.22,0.00,0.000,516,0.000,0.059,2077,507,3601,3666,3537,0,0,0,0,0,0,28.83,26.09,28.83
$GC,844,-1.60,-180.8,2076,506,3666,3540,133.1,-17.4,96,850,0.00,2.25,0.00,0.000,1030,0.000,0.047,2077,1925,3601,3666,3537,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1039,-1.60,-180.8,2077,1925,3666,3537,164.5,-15.2,116,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,1925,3601,3666,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1220,-1.60,-180.8,2076,1925,3665,3537,193.0,-15.2,134,1225,0.00,2.30,0.00,0.000,516,0.000,0.057,2077,501,3601,3665,3537,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1248,-1.60,-180.8,2076,504,3665,3537,197.7,-16.3,139,1255,0.00,2.25,0.00,0.000,1030,0.000,0.048,2077,1915,3601,3665,3537,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,1262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1262,begin apogee
$GC,1270,-0.47,0.0,2078,2026,3665,3536,200.1,-16.5,141,1425,0.73,0.00,144.57,0.593,10246,0.136,0.000,2305,2026,2857,2749,2966,0,0,0,0,0,0,25.67,28.83,24.46
$STATE,1427,end apogee,CONTROL_FINISHED_OK
$STATE,1427,begin climb
$GC,1430,1.69,180.8,2305,2026,2748,2965,209.2,0.0,157,1591,1.40,2.50,147.98,0.572,10756,0.088,0.057,2784,590,2118,1939,2298,0,0,1,0,0,0,25.22,24.98,24.32
$GC,1610,1.73,219.8,2783,590,1939,2296,193.6,14.1,186,1651,0.00,2.33,31.88,0.550,9222,0.000,0.046,2784,1995,1963,1782,2145,0,0,0,0,0,0,28.83,25.27,24.42
$GC,1831,1.73,219.8,2784,1995,1784,2141,155.6,17.6,212,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1995,1962,1784,2141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2010,1.73,219.8,2783,1995,1786,2137,125.2,17.0,230,2016,0.00,2.25,0.00,0.000,260,0.000,0.056,2784,3413,1961,1786,2137,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2060,1.73,219.8,2784,3413,1788,2132,116.8,16.9,239,2067,0.00,2.30,0.00,0.000,1030,0.000,0.047,2794,1984,1960,1788,2132,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2245,1.73,219.8,2793,1984,1788,2130,84.6,17.6,258,2252,0.00,2.20,0.00,0.000,516,0.000,0.059,2801,594,1959,1789,2130,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2311,1.77,246.8,2801,594,1789,2130,74.8,14.9,270,2343,0.00,2.25,22.25,0.508,9222,0.000,0.046,2801,2005,1854,1687,2021,0,0,0,0,0,0,28.83,26.13,25.20
$GC,2522,1.77,246.8,2801,2004,1689,2020,40.8,16.9,294,2528,0.00,2.22,0.00,0.000,260,0.000,0.057,2801,3414,1854,1689,2020,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2607,1.77,246.8,2801,3414,1692,2018,24.9,17.4,310,2613,0.00,2.28,0.00,0.000,1030,0.000,0.047,2811,1992,1856,1694,2019,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,2751,end climb,SURFACE_DEPTH_REACHED
$STATE,2751,begin surface coast
$FINISH,0.9,1.021613
$STATE,2760,end surface coast,CONTROL_FINISHED_OK
$STATE,2760,begin surface
$SM_CCo,2780,21.20,0.049,0,0,1639,300.00
$SM_GC,1.36,7.32,0.10,21.20,0.047,0.116,0.049,91,1923,1639,-10.60,1.05,300.00,0,0,0,0,0,0,26.08,26.38,26.16
$IRIDIUM_FIX,4710.21,-12224.61,180921,170707
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.26
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,10
$SC_FREEKB,3999392
$24V_AH,24.32,4.232
$10V_AH,9.86,2.579
$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,18.100,36.700,346.675,21.200,0.000,0.000,0.000,166.900,4.750,0.000,16.219,705.063,1093.990,441.096,688.429,222.991,33.268,943.855,0.000,493.239,0.000,17.665,0.000
$DEVICE_MAMPS,257.805,115.515,592.875,48.960,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2767.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.575,0.000,0.000,0.000
$MEM,203680
$DATA_FILE_SIZE,10103,326
$CAP_FILE_SIZE,60295,0
$CFSIZE,260034560,249098240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$INTR,0,3176.74,0x239dd2,7,5
$CURRENT,0.189,317.4,1
$GPS,160714,081819,4726.653,-12223.636,11,2.0,11,18.1