version: 66.12
glider: 124
mission: 17
dive: 99
start: 7 17 114 20 32 25
data:
$ID,124
$MISSION,17
$DIVE,99
$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,-307976.94
$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,30
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,250
$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
$GPS1,170714,202400,4726.077,-12222.618,8,2.0,8,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-67.4
$GPS2,170714,203121,4726.142,-12222.623,14,2.9,34,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.005,-0.304
$KALMAN_X,-9141.7,140.4,19.6,6988.5,-104.8
$KALMAN_Y,10175.3,74.5,42.2,-7328.6,353.3
$MHEAD_RNG_PITCHd_Wd,157.4,417,-25.0,-16.667,-28.75,1541
$D_GRID,170
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.69,-180.8,93,1914,1528,1754,0.0,0.0,0,103,0.00,0.00,-80.18,0.000,16386,0.000,0.000,92,1914,2926,2953,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,93,1914,2953,2900,3.1,-1.5,8,146,8.55,2.30,-20.58,0.000,18948,0.258,0.071,2038,504,3600,3665,3536,0,0,0,0,0,0,25.32,25.96,26.52
$GC,188,-1.55,-180.8,2038,505,3666,3536,17.0,-22.6,22,195,0.15,2.30,0.00,0.000,3078,0.189,0.047,2075,1933,3601,3666,3536,0,0,0,0,0,0,25.64,26.01,28.83
$GC,384,-1.55,-180.8,2075,1933,3665,3537,57.5,-19.3,42,389,0.00,2.33,0.00,0.000,516,0.000,0.058,2075,504,3601,3666,3536,0,0,0,0,0,0,28.83,26.01,28.83
$GC,409,-1.55,-180.8,2075,504,3666,3537,62.0,-18.2,46,414,0.00,2.28,0.00,0.000,1030,0.000,0.047,2074,1932,3601,3665,3537,0,0,0,0,0,0,28.83,26.09,28.83
$GC,604,-1.55,-180.8,2075,1932,3665,3537,94.0,-16.4,66,609,0.00,2.20,0.00,0.000,260,0.000,0.057,2075,3331,3600,3665,3536,0,0,0,0,0,0,28.83,26.06,28.83
$GC,629,-1.55,-180.8,2075,3332,3665,3537,97.9,-15.6,70,634,0.00,2.28,0.00,0.000,1030,0.000,0.047,2075,1918,3601,3665,3537,0,0,0,0,0,0,28.83,26.17,28.83
$GC,824,-1.55,-180.8,2075,1918,3665,3536,129.0,-16.6,90,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,1918,3601,3665,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1017,-1.55,-180.8,2075,1913,3665,3536,161.2,-17.3,109,1024,0.00,2.28,0.00,0.000,260,0.000,0.057,2075,3320,3601,3665,3537,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1057,-1.62,-180.8,2075,3320,3665,3536,168.4,-15.6,116,1064,0.00,2.25,0.00,0.000,1030,0.000,0.047,2075,1914,3601,3666,3537,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,1073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1073,begin apogee
$GC,1081,-0.47,0.0,2075,2007,3665,3537,170.7,-15.4,118,1235,0.73,0.00,142.48,0.579,10246,0.135,0.000,2305,2007,2857,2752,2963,0,0,0,0,0,0,25.69,28.83,24.49
$STATE,1237,end apogee,CONTROL_FINISHED_OK
$STATE,1237,begin climb
$GC,1240,1.69,180.8,2305,2007,2751,2963,181.0,0.0,134,1397,1.40,2.40,147.00,0.557,10500,0.089,0.054,2775,3411,2120,1940,2301,0,0,0,0,0,0,25.25,25.06,24.37
$GC,1434,1.71,200.0,2774,3411,1941,2295,163.4,15.4,167,1457,0.00,2.35,16.48,0.523,9222,0.000,0.046,2785,1988,2043,1862,2225,0,0,0,0,0,0,28.83,25.38,24.53
$GC,1646,1.72,205.1,2785,1987,1862,2218,129.4,16.3,190,1654,0.00,0.00,3.67,0.393,8198,0.000,0.000,2785,1987,2027,1852,2203,0,0,0,0,0,0,28.83,28.83,24.65
$GC,1836,1.72,205.1,2785,1987,1855,2200,97.7,17.4,209,1842,0.00,2.33,0.00,0.000,260,0.000,0.054,2785,3415,2028,1855,2202,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1928,1.72,205.1,2785,3415,1857,2197,81.5,18.1,226,1934,0.00,2.28,0.00,0.000,1030,0.000,0.046,2795,2000,2027,1858,2197,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2113,1.75,237.3,2794,2001,1857,2197,50.0,14.5,245,2153,0.00,2.35,29.48,0.505,8452,0.000,0.055,2795,3402,1891,1721,2061,0,0,0,0,0,0,28.83,25.93,25.15
$GC,2177,1.79,269.0,2794,3402,1723,2060,40.9,14.6,254,2212,0.00,2.28,27.42,0.495,9222,0.000,0.047,2804,1991,1762,1596,1928,0,0,0,0,0,0,28.83,25.95,24.94
$GC,2401,1.79,269.0,2804,1990,1598,1923,4.8,16.8,280,2406,0.00,2.22,0.00,0.000,516,0.000,0.058,2812,588,1761,1599,1923,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,2416,end climb,SURFACE_DEPTH_REACHED
$STATE,2416,begin surface coast
$FINISH,0.9,1.008180
$STATE,2436,end surface coast,CONTROL_FINISHED_OK
$STATE,2437,begin surface
$SM_CCo,2459,11.85,0.049,0,0,1638,300.00
$SM_GC,2.79,7.40,2.20,11.85,0.049,0.045,0.049,90,1930,1638,-10.61,-0.74,300.00,0,0,0,0,0,0,25.91,26.00,26.00
$IRIDIUM_FIX,4710.21,-12227.30,200921,061118
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.69
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.70
$XPDR_PINGS,5
$SC_FREEKB,3981728
$24V_AH,24.37,7.052
$10V_AH,9.29,4.226
$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,18.225,36.800,366.525,11.850,0.000,0.000,0.000,254.775,3.250,0.000,35.677,611.163,913.384,449.384,736.878,217.299,33.274,1017.287,0.000,446.264,0.000,16.093,0.000
$DEVICE_MAMPS,257.805,72.675,579.105,48.960,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2444.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.223,0.000,0.000,0.000
$MEM,203760
$DATA_FILE_SIZE,10101,287
$CAP_FILE_SIZE,55336,0
$CFSIZE,260034560,247488512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3019.11,0x239dd2,7,5
$CURRENT,0.124,336.4,1
$GPS,170714,211459,4725.935,-12222.706,34,1.9,37,18.1