version: 66.12
glider: 124
mission: 17
dive: 129
start: 7 18 114 20 25 28
data:
$ID,124
$MISSION,17
$DIVE,129
$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,-309215.75
$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,25
$R_STBD_OVSHOOT,29
$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
$GPS1,180714,201805,4726.186,-12222.756,29,1.9,29,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-68.3
$GPS2,180714,202418,4726.246,-12222.774,15,1.7,32,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.157,-0.260
$KALMAN_X,-11885.6,-185.0,-154.7,10043.7,-301.2
$KALMAN_Y,12536.1,12.6,-191.2,-9201.2,134.3
$MHEAD_RNG_PITCHd_Wd,146.9,587,-25.3,-16.667,-29.06,1502
$D_GRID,179
$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,-1.70,-175.8,91,1928,1526,1753,0.0,0.0,0,103,0.00,0.00,-80.20,0.000,16386,0.000,0.000,91,1926,2982,3019,2945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.71,-180.8,91,1925,3019,2946,3.6,-2.3,8,141,8.65,2.28,-15.80,0.000,18948,0.262,0.074,2034,503,3601,3669,3533,0,0,0,0,0,0,25.29,25.31,26.56
$GC,242,-1.57,-180.8,2033,502,3672,3533,33.8,-22.8,33,250,0.15,2.28,0.00,0.000,3078,0.200,0.046,2070,1933,3601,3670,3533,0,0,0,0,0,0,25.67,26.08,28.83
$GC,429,-1.57,-180.8,2070,1934,3669,3533,69.9,-15.2,52,430,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,1934,3601,3669,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,609,-1.57,-180.8,2070,1934,3669,3533,102.1,-18.5,70,614,0.00,2.30,0.00,0.000,516,0.000,0.056,2071,506,3601,3669,3533,0,0,0,0,0,0,28.83,26.11,28.83
$GC,667,-1.57,-180.8,2070,506,3669,3534,113.8,-19.2,81,675,0.00,2.25,0.00,0.000,1030,0.000,0.045,2070,1916,3600,3667,3533,0,0,0,0,0,0,28.83,26.22,28.83
$GC,853,-1.57,-180.8,2070,1916,3669,3533,146.7,-17.5,100,859,0.00,2.22,0.00,0.000,260,0.000,0.057,2070,3337,3601,3669,3534,0,0,0,0,0,0,28.83,26.14,28.83
$GC,911,-1.57,-180.8,2070,3337,3669,3533,157.0,-17.3,111,918,0.00,2.28,0.00,0.000,1030,0.000,0.047,2070,1913,3601,3669,3533,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,1045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1045,begin apogee
$GC,1053,-0.47,0.0,2070,2008,3668,3534,180.8,-19.4,125,1209,0.75,0.00,144.35,0.581,10246,0.142,0.000,2303,2008,2858,2755,2962,0,0,0,0,0,0,25.67,28.83,24.46
$STATE,1211,end apogee,CONTROL_FINISHED_OK
$STATE,1211,begin climb
$GC,1214,1.71,180.8,2302,2007,2753,2962,191.5,0.0,141,1371,1.42,2.38,145.15,0.564,11012,0.090,0.053,2780,3405,2121,1937,2305,0,0,0,0,0,0,25.26,25.08,24.34
$GC,1406,1.72,191.2,2779,3404,1939,2300,175.2,16.0,170,1422,0.00,2.33,9.55,0.506,9222,0.000,0.045,2789,1991,2079,1898,2261,0,0,0,0,0,0,28.83,25.39,24.49
$GC,1611,1.75,212.8,2789,1991,1899,2256,141.9,15.2,192,1637,0.00,2.40,18.38,0.531,8452,0.000,0.053,2789,3410,1991,1814,2169,0,0,0,0,0,0,28.83,25.71,24.83
$GC,1699,1.75,212.8,2789,3410,1818,2165,125.4,20.1,208,1705,0.00,2.28,0.00,0.000,1030,0.000,0.044,2799,2005,1991,1818,2164,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1894,1.75,212.8,2798,2005,1819,2164,92.9,17.1,228,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2005,1991,1819,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2074,1.78,242.3,2798,2005,1819,2163,62.6,14.7,246,2106,0.00,2.30,25.30,0.507,8452,0.000,0.050,2799,3413,1870,1698,2043,0,0,0,0,0,0,28.83,25.94,25.12
$GC,2140,1.78,242.3,2798,3413,1699,2040,51.0,19.5,258,2146,0.00,2.28,0.00,0.000,1030,0.000,0.046,2809,2000,1869,1699,2040,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2336,1.91,265.0,2808,2002,1701,2040,20.4,15.1,278,2357,0.00,2.25,14.57,0.459,8708,0.000,0.055,2813,585,1778,1611,1946,0,0,0,0,0,0,28.83,26.01,25.14
$GC,2396,2.02,268.1,2814,585,1614,1945,11.0,16.5,289,2404,0.12,2.25,1.10,0.065,11270,0.089,0.043,2867,2004,1769,1604,1934,0,0,0,0,0,0,26.06,26.06,25.97
$STATE,2439,end climb,SURFACE_DEPTH_REACHED
$STATE,2440,begin surface coast
$FINISH,1.1,1.021458
$STATE,2454,end surface coast,CONTROL_FINISHED_OK
$STATE,2454,begin surface
$SM_CCo,2475,12.95,0.049,0,0,1638,300.00
$SM_GC,2.60,7.47,0.20,12.95,0.046,0.072,0.049,91,1911,1638,-10.59,0.71,300.00,0,0,0,0,0,0,26.03,26.19,26.06
$IRIDIUM_FIX,4713.38,-12223.63,210921,060224
$TT8_MAMPS,0.029211,0.029211
$HUMID,65.47
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.40
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,161.7,38.9
$SC_FREEKB,3970208
$24V_AH,24.34,8.925
$10V_AH,9.70,5.334
$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,18.575,32.450,358.400,12.950,0.000,0.000,0.000,188.125,4.000,0.000,33.218,635.454,913.392,437.335,678.420,218.737,33.282,935.488,0.000,454.554,0.000,11.865,0.000
$DEVICE_MAMPS,261.630,74.205,581.400,48.960,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2462.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.863,0.000,0.000,0.000
$MEM,203708
$DATA_FILE_SIZE,10089,295
$CAP_FILE_SIZE,55273,0
$CFSIZE,260034560,246415360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3136.98,0x239dd2,7,5
$CURRENT,0.129,318.4,1
$GPS,180714,210800,4726.008,-12222.822,13,2.0,18,18.1