version: 66.12
glider: 124
mission: 17
dive: 132
start: 7 18 114 22 44 11
data:
$ID,124
$MISSION,17
$DIVE,132
$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,-309219.5
$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,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
$GPS1,180714,223406,4725.750,-12222.361,10,1.6,15,18.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-66.3
$GPS2,180714,224306,4725.815,-12222.390,11,1.6,11,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.175,-0.249
$KALMAN_X,-12277.1,-322.8,-279.5,11179.8,-84.5
$KALMAN_Y,12931.8,57.4,32.8,-10659.5,171.1
$MHEAD_RNG_PITCHd_Wd,125.9,914,-25.0,-16.667,-28.75,1541
$D_GRID,172
$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,17,begin dive
$GC,20,-1.69,-180.8,91,1915,1525,1753,0.0,0.0,0,93,0.00,0.00,-70.03,0.000,16386,0.000,0.000,91,1915,2804,2819,2790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.69,-180.8,91,1915,2819,2792,3.0,-1.6,7,140,8.57,2.38,-26.27,0.000,18692,0.259,0.071,2037,3321,3601,3667,3535,0,0,0,0,0,0,25.29,25.94,26.54
$GC,176,-1.58,-180.8,2037,3320,3667,3537,14.6,-21.3,21,184,0.10,2.28,0.00,0.000,3078,0.188,0.054,2060,1914,3602,3667,3537,0,0,0,0,0,0,25.78,25.94,28.83
$GC,363,-1.58,-180.8,2060,1915,3667,3537,53.2,-18.5,40,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,1914,3602,3667,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,543,-1.58,-180.8,2060,1914,3666,3537,88.4,-19.9,58,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,1914,3602,3667,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,724,-1.58,-180.8,2060,1915,3666,3537,119.4,-15.9,76,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,1914,3601,3666,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,905,-1.58,-180.8,2060,1914,3666,3537,150.0,-17.6,94,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,1916,3601,3666,3537,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1041,begin apogee
$GC,1052,-0.47,0.0,2060,2008,3666,3537,173.5,-16.6,108,1206,0.77,0.00,143.15,0.580,10246,0.138,0.000,2306,2008,2857,2753,2962,0,0,0,0,0,0,25.71,28.83,24.47
$STATE,1207,end apogee,CONTROL_FINISHED_OK
$STATE,1208,begin climb
$GC,1211,1.69,180.8,2305,2008,2752,2962,183.0,0.0,124,1368,1.40,2.33,145.38,0.562,10500,0.088,0.053,2777,3411,2120,1938,2302,0,0,0,0,0,0,25.27,25.08,24.34
$GC,1415,1.69,180.8,2777,3412,1941,2297,162.4,17.5,162,1421,0.00,2.35,0.00,0.000,1030,0.000,0.045,2786,1987,2118,1941,2296,0,0,0,0,0,0,28.83,25.45,28.83
$GC,1611,1.69,187.4,2786,1987,1941,2292,128.7,16.2,182,1622,0.00,2.22,4.53,0.438,8708,0.000,0.053,2797,586,2097,1924,2271,0,0,0,0,0,0,28.83,25.86,24.71
$GC,1647,1.71,200.2,2797,586,1928,2271,122.8,15.8,188,1668,0.00,2.25,12.50,0.508,9222,0.000,0.043,2797,1998,2043,1869,2217,0,0,0,0,0,0,28.83,25.94,24.89
$GC,1848,1.74,223.6,2797,1998,1869,2215,90.1,15.1,210,1874,0.00,2.25,20.33,0.514,8452,0.000,0.053,2797,3409,1947,1775,2120,0,0,0,0,0,0,28.83,25.85,24.98
$GC,1947,1.74,223.6,2797,3411,1781,2118,73.7,16.8,229,1955,0.00,2.28,0.00,0.000,1030,0.000,0.046,2807,1999,1950,1781,2119,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2135,1.83,250.1,2807,2000,1781,2119,45.3,14.9,248,2162,0.00,0.00,23.00,0.500,8454,0.000,0.000,2807,2000,1840,1669,2011,0,0,0,0,0,0,28.83,28.83,25.08
$GC,2345,1.96,281.3,2807,2000,1673,2011,13.9,14.6,270,2363,0.10,0.00,13.00,0.069,10758,0.101,0.000,2853,2000,1715,1552,1879,0,0,0,0,0,0,26.29,28.83,25.96
$STATE,2411,end climb,SURFACE_DEPTH_REACHED
$STATE,2411,begin surface coast
$FINISH,0.8,1.018852
$STATE,2424,end surface coast,CONTROL_FINISHED_OK
$STATE,2425,begin surface
$SM_CCo,2445,7.38,0.049,0,0,1638,300.00
$SM_GC,3.06,7.45,0.12,7.38,0.047,0.093,0.049,96,1915,1638,-10.58,0.79,300.00,0,0,0,0,0,0,26.00,26.27,26.09
$IRIDIUM_FIX,4707.04,-12220.22,210921,082217
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.79
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,141.0,43.9
$SC_FREEKB,3969056
$24V_AH,24.34,9.110
$10V_AH,9.72,5.440
$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,18.400,18.650,361.875,7.375,0.000,0.000,0.000,252.575,6.000,0.000,12.685,590.060,1093.911,410.124,698.511,217.380,33.282,962.243,0.000,432.064,0.000,14.308,0.000
$DEVICE_MAMPS,258.570,93.330,579.870,48.960,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2433.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.439,0.000,0.000,0.000
$MEM,203680
$DATA_FILE_SIZE,10176,279
$CAP_FILE_SIZE,53025,0
$CFSIZE,260034560,246317056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3070.69,0x239dd2,7,5
$CURRENT,0.020, 33.9,1
$GPS,180714,232621,4725.560,-12222.010,12,4.4,32,18.1