version: 66.12
glider: 124
mission: 17
dive: 131
start: 7 18 114 21 52 59
data:
$ID,124
$MISSION,17
$DIVE,131
$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,-309218.25
$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,32
$R_STBD_OVSHOOT,33
$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
$GPS1,180714,214603,4725.896,-12222.658,10,2.2,30,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-67.5
$GPS2,180714,215154,4725.958,-12222.694,10,1.3,15,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.200,-0.228
$KALMAN_X,-12251.4,-305.0,-275.8,10753.5,-141.2
$KALMAN_Y,12824.3,40.7,-53.5,-10187.2,193.8
$MHEAD_RNG_PITCHd_Wd,125.4,1366,-25.0,-16.667,-28.75,1541
$D_GRID,173
$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,20,-1.69,-180.8,90,1918,1528,1759,0.0,0.0,0,93,0.00,0.00,-69.85,0.000,16386,0.000,0.000,91,1918,2812,2826,2798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.69,-180.8,90,1918,2828,2799,3.1,-1.8,7,140,8.62,2.28,-24.70,0.000,18948,0.260,0.075,2037,518,3601,3669,3534,0,0,0,0,0,0,25.29,25.98,26.54
$GC,148,-1.49,-180.8,2036,518,3670,3534,10.6,-17.4,16,156,0.17,2.25,0.00,0.000,3078,0.194,0.050,2080,1917,3602,3670,3535,0,0,0,0,0,0,25.61,26.04,28.83
$GC,334,-1.49,-180.8,2079,1917,3670,3536,50.6,-20.5,35,340,0.00,2.22,0.00,0.000,260,0.000,0.057,2080,3330,3602,3669,3535,0,0,0,0,0,0,28.83,26.02,28.83
$GC,363,-1.49,-180.8,2079,3330,3669,3536,56.3,-19.1,40,369,0.00,2.25,0.00,0.000,1030,0.000,0.047,2080,1923,3602,3670,3535,0,0,0,0,0,0,28.83,26.13,28.83
$GC,549,-1.49,-180.8,2080,1923,3669,3535,88.6,-13.1,59,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,1923,3602,3669,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,729,-1.49,-180.8,2079,1922,3669,3536,117.8,-17.2,77,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,1923,3602,3669,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,911,-1.49,-180.8,2079,1923,3669,3535,149.2,-16.1,95,916,0.00,2.20,0.00,0.000,516,0.000,0.055,2080,508,3602,3669,3536,0,0,0,0,0,0,28.83,26.17,28.83
$GC,950,-1.49,-180.8,2080,508,3669,3536,156.1,-17.5,102,956,0.00,2.22,0.00,0.000,1030,0.000,0.044,2080,1928,3602,3669,3535,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,1052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1052,begin apogee
$GC,1060,-0.47,0.0,2080,2004,3668,3536,173.2,-15.6,113,1211,0.70,0.00,142.80,0.574,10246,0.136,0.000,2303,2003,2859,2753,2965,0,0,0,0,0,0,25.73,28.83,24.48
$STATE,1213,end apogee,CONTROL_FINISHED_OK
$STATE,1213,begin climb
$GC,1216,1.69,180.8,2303,2004,2751,2963,181.7,0.0,128,1372,1.40,2.35,144.02,0.557,10500,0.083,0.053,2780,3393,2119,1936,2303,0,0,0,0,0,0,25.27,25.08,24.36
$GC,1419,1.70,196.2,2780,3393,1939,2298,163.0,15.7,166,1440,0.00,2.30,13.20,0.513,9222,0.000,0.044,2790,1999,2058,1876,2240,0,0,0,0,0,0,28.83,25.44,24.53
$GC,1630,1.74,223.7,2790,1999,1877,2236,131.2,14.8,189,1657,0.00,0.00,23.08,0.529,8198,0.000,0.000,2790,1999,1946,1768,2125,0,0,0,0,0,0,28.83,28.83,24.83
$GC,1840,1.74,223.7,2789,1999,1772,2124,96.0,17.7,210,1845,0.00,2.28,0.00,0.000,260,0.000,0.053,2790,3403,1947,1772,2122,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1878,1.74,223.7,2790,3403,1775,2121,89.0,18.3,217,1886,0.00,2.28,0.00,0.000,1030,0.000,0.046,2798,1986,1948,1775,2121,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2065,1.84,248.8,2798,1985,1775,2120,59.4,15.0,236,2097,0.00,2.28,21.73,0.500,8708,0.000,0.055,2808,590,1844,1673,2016,0,0,0,0,0,0,28.83,25.94,25.12
$GC,2112,1.97,288.4,2807,590,1672,2016,52.8,14.0,244,2154,0.12,2.22,32.70,0.497,11270,0.089,0.042,2860,1992,1683,1519,1847,0,0,0,0,0,0,26.00,26.01,24.93
$GC,2334,1.97,288.4,2859,1992,1526,1846,10.6,20.1,270,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1992,1686,1527,1846,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2371,end climb,SURFACE_DEPTH_REACHED
$STATE,2371,begin surface coast
$FINISH,1.0,1.021527
$STATE,2381,end surface coast,CONTROL_FINISHED_OK
$STATE,2381,begin surface
$SM_CCo,2402,4.47,0.049,0,0,1639,300.00
$SM_GC,2.85,7.50,0.17,4.47,0.047,0.081,0.049,91,1916,1639,-10.60,0.85,300.00,0,0,0,0,0,0,25.95,26.14,26.02
$IRIDIUM_FIX,4707.04,-12218.52,210921,074417
$TT8_MAMPS,0.029211,0.029211
$HUMID,65.16
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,19.40
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,140.7,46.9
$SC_FREEKB,3969440
$24V_AH,24.36,9.047
$10V_AH,9.53,5.402
$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,18.525,27.400,377.525,4.475,0.000,0.000,0.000,184.900,4.250,0.000,16.484,575.641,927.158,432.499,626.925,214.142,33.281,923.605,0.000,423.276,0.000,11.514,0.000
$DEVICE_MAMPS,260.100,113.220,573.750,48.960,0.000,0.000,0.000,113.220,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2389.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.269,0.000,0.000,0.000
$MEM,203652
$DATA_FILE_SIZE,10148,275
$CAP_FILE_SIZE,53105,0
$CFSIZE,260034560,246349824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2270.09,0x239dd2,7,5
$CURRENT,0.075,332.4,1
$GPS,180714,223406,4725.750,-12222.361,10,1.6,15,18.1