version: 66.12
glider: 124
mission: 17
dive: 54
start: 7 16 114 8 25 11
data:
$ID,124
$MISSION,17
$DIVE,54
$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,-307920.69
$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,27
$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
$GPS1,160714,081819,4726.653,-12223.636,11,2.0,11,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-67.7
$GPS2,160714,082406,4726.666,-12223.728,14,1.2,14,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.229,-0.200
$KALMAN_X,-7432.2,-274.6,-337.5,4669.3,-357.0
$KALMAN_Y,6570.7,486.1,533.2,-3651.6,267.9
$MHEAD_RNG_PITCHd_Wd,119.4,1844,-25.0,-16.667,-28.75,1541
$D_GRID,227
$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,-180.8,91,1922,1535,1749,0.0,0.0,0,102,0.00,0.00,-79.85,0.000,16386,0.000,0.000,91,1922,2933,2964,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,90,1922,2964,2904,3.3,-1.9,8,141,8.55,2.30,-18.52,0.000,18948,0.259,0.071,2039,510,3602,3668,3536,0,0,1,0,0,0,25.38,25.61,26.55
$GC,329,-1.61,-180.8,2039,510,3669,3536,51.5,-24.3,50,335,0.00,2.25,0.00,0.000,1030,0.000,0.047,2039,1920,3603,3670,3536,0,0,0,0,0,0,28.83,26.08,28.83
$GC,524,-1.61,-180.8,2039,1920,3669,3536,94.2,-19.7,70,529,0.00,2.22,0.00,0.000,260,0.000,0.057,2039,3335,3602,3669,3536,0,0,0,0,0,0,28.83,26.05,28.83
$GC,592,-1.61,-180.8,2039,3336,3669,3536,108.2,-19.0,83,598,0.00,2.28,0.00,0.000,1030,0.000,0.049,2039,1918,3602,3669,3536,0,0,0,0,0,0,28.83,26.15,28.83
$GC,778,-1.61,-180.8,2039,1916,3669,3536,145.6,-18.9,102,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1917,3602,3669,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,959,-1.61,-180.8,2039,1917,3669,3536,177.1,-18.3,120,964,0.00,2.22,0.00,0.000,516,0.000,0.059,2039,505,3602,3669,3536,0,0,0,0,0,0,28.83,26.09,28.83
$GC,995,-1.53,-180.8,2039,504,3669,3536,183.7,-19.7,126,1002,0.15,2.28,0.00,0.000,3078,0.177,0.048,2077,1929,3602,3669,3536,0,0,0,0,0,0,25.83,26.19,28.83
$STATE,1100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1100,begin apogee
$GC,1108,-0.47,0.0,2077,2005,3669,3537,201.6,-16.7,137,1262,0.73,0.00,144.85,0.597,10246,0.135,0.000,2307,2005,2859,2752,2966,0,0,0,0,0,0,25.66,28.83,24.44
$STATE,1264,end apogee,CONTROL_FINISHED_OK
$STATE,1264,begin climb
$GC,1267,1.69,180.8,2307,2005,2749,2965,210.4,0.0,153,1425,1.40,2.40,148.18,0.571,10500,0.088,0.054,2776,3409,2120,1941,2299,0,0,0,0,0,0,25.20,25.01,24.32
$GC,1473,1.69,180.8,2775,3409,1941,2292,188.8,17.5,189,1480,0.00,2.35,0.00,0.000,1030,0.000,0.047,2785,1992,2116,1942,2291,0,0,0,0,0,0,28.83,25.37,28.83
$GC,1659,1.69,180.8,2785,1992,1942,2286,157.7,16.8,208,1664,0.00,2.25,0.00,0.000,516,0.000,0.057,2795,591,2114,1942,2286,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1724,1.69,185.1,2795,591,1943,2284,147.1,16.4,220,1729,0.00,2.25,0.00,0.000,1030,0.000,0.046,2795,1988,2113,1943,2284,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1918,1.72,207.2,2795,1988,1944,2280,116.8,15.2,240,1944,0.00,2.28,20.95,0.521,8452,0.000,0.054,2795,3414,2014,1846,2182,0,0,0,0,0,0,28.83,25.89,25.11
$GC,1963,1.73,219.4,2795,3414,1848,2181,109.9,15.9,248,1985,0.00,2.30,11.80,0.498,9222,0.000,0.047,2805,1989,1962,1796,2129,0,0,0,0,0,0,28.83,25.91,25.01
$GC,2164,1.77,248.7,2805,1989,1798,2129,81.1,14.7,270,2192,0.00,0.00,25.27,0.511,8198,0.000,0.000,2805,1989,1845,1679,2012,0,0,0,0,0,0,28.83,28.83,25.03
$GC,2374,1.77,248.7,2805,1989,1680,2008,45.2,18.1,291,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1989,1844,1680,2008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2565,1.84,256.6,2805,1989,1682,2006,17.2,16.1,310,2573,0.00,0.00,3.00,0.078,8198,0.000,0.000,2806,1989,1815,1654,1977,0,0,0,0,0,0,28.83,28.83,25.92
$STATE,2651,end climb,SURFACE_DEPTH_REACHED
$STATE,2651,begin surface coast
$FINISH,0.9,1.021736
$STATE,2662,end surface coast,CONTROL_FINISHED_OK
$STATE,2664,begin surface
$SM_CCo,2685,17.60,0.049,0,0,1638,300.00
$SM_GC,1.86,7.35,0.10,17.60,0.049,0.114,0.049,87,1918,1638,-10.61,0.96,300.00,0,0,0,0,0,0,26.07,26.34,26.12
$IRIDIUM_FIX,4710.21,-12213.14,180921,180019
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.69
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,180.5,63.6
$SC_FREEKB,3999008
$24V_AH,24.32,4.295
$10V_AH,9.73,2.616
$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,18.175,27.575,354.050,17.600,0.000,0.000,0.000,182.150,4.250,0.000,15.632,684.746,1039.858,429.894,695.701,216.128,33.268,937.057,0.000,494.333,0.000,18.016,0.000
$DEVICE_MAMPS,259.335,115.515,597.465,48.960,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2672.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.535,0.000,0.000,0.000
$MEM,203732
$DATA_FILE_SIZE,10160,320
$CAP_FILE_SIZE,56726,0
$CFSIZE,260034560,249061376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$INTR,0,3268.92,0x239dd2,7,5
$CURRENT,0.116,315.0,1
$GPS,160714,091133,4726.513,-12223.503,14,2.6,34,18.1