version: 66.12
glider: 124
mission: 17
dive: 145
start: 7 19 114 9 13 34
data:
$ID,124
$MISSION,17
$DIVE,145
$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,-309235.75
$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,32
$R_STBD_OVSHOOT,31
$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
$GPS1,190714,090423,4726.342,-12222.989,39,1.1,56,18.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-69.6
$GPS2,190714,091227,4726.402,-12223.073,17,3.0,37,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.202,-0.227
$KALMAN_X,-13259.9,-99.3,-141.0,10947.8,-362.5
$KALMAN_Y,14109.3,186.5,77.6,-10925.1,292.2
$MHEAD_RNG_PITCHd_Wd,123.8,971,-25.0,-16.667,-28.75,1541
$D_GRID,205
$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,-180.8,87,1922,1534,1744,0.0,0.0,0,94,0.00,0.00,-70.55,0.000,16386,0.000,0.000,88,1922,2807,2831,2783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-1.69,-180.8,88,1923,2831,2783,3.1,-1.9,7,136,8.68,2.40,-22.83,0.000,18692,0.262,0.074,2035,3335,3601,3677,3525,0,0,0,0,0,0,25.29,25.67,26.58
$GC,283,-1.63,-180.8,2035,3336,3676,3528,45.9,-19.3,42,290,0.00,2.28,0.00,0.000,1030,0.000,0.049,2036,1921,3602,3677,3528,0,0,0,0,0,0,28.83,26.10,28.83
$GC,469,-1.63,-180.8,2035,1921,3677,3528,79.5,-18.2,61,475,0.00,2.30,0.00,0.000,260,0.000,0.057,2036,3334,3602,3677,3528,0,0,0,0,0,0,28.83,26.07,28.83
$GC,514,-1.63,-180.8,2035,3334,3676,3527,88.3,-18.8,69,521,0.00,2.28,0.00,0.000,1030,0.000,0.047,2036,1914,3602,3677,3528,0,0,0,0,0,0,28.83,26.18,28.83
$GC,709,-1.63,-180.8,2036,1914,3676,3528,124.5,-19.0,89,716,0.00,2.17,0.00,0.000,516,0.000,0.057,2036,509,3601,3675,3528,0,0,0,0,0,0,28.83,26.14,28.83
$GC,755,-1.52,-180.8,2036,509,3675,3528,133.4,-19.8,97,762,0.15,2.25,0.00,0.000,3078,0.181,0.046,2074,1932,3601,3675,3527,0,0,0,0,0,0,25.86,26.22,28.83
$GC,952,-1.52,-180.8,2074,1932,3675,3528,163.5,-12.0,117,958,0.00,2.20,0.00,0.000,260,0.000,0.057,2075,3337,3601,3675,3528,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1043,-1.60,-180.8,2074,3337,3675,3528,174.5,-15.3,133,1049,0.00,2.28,0.00,0.000,1030,0.000,0.048,2073,1913,3601,3675,3528,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,1224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1224,begin apogee
$GC,1233,-0.47,0.0,2075,2009,3674,3528,201.0,-16.4,152,1384,0.73,0.00,143.95,0.594,10246,0.134,0.000,2306,2009,2860,2772,2949,0,0,0,0,0,0,25.72,28.83,24.44
$STATE,1385,end apogee,CONTROL_FINISHED_OK
$STATE,1385,begin climb
$GC,1388,1.69,180.8,2305,2009,2769,2948,205.4,0.0,167,1545,1.40,2.40,147.00,0.570,10500,0.085,0.055,2780,3410,2121,1953,2290,0,0,0,0,0,0,25.25,25.07,24.32
$GC,1597,1.69,180.8,2780,3410,1953,2284,180.9,20.1,206,1603,0.00,2.35,0.00,0.000,1030,0.000,0.045,2791,1984,2118,1953,2284,0,0,0,0,0,0,28.83,25.46,28.83
$GC,1782,1.69,180.8,2790,1984,1953,2279,145.7,19.0,225,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1984,2116,1953,2279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1963,1.69,188.1,2791,1984,1953,2278,116.3,16.2,243,1970,0.00,0.00,4.60,0.443,8198,0.000,0.000,2791,1984,2095,1935,2256,0,0,0,0,0,0,28.83,28.83,24.81
$GC,2153,1.72,205.2,2790,1986,1941,2256,87.0,15.5,262,2172,0.00,0.00,16.90,0.509,8198,0.000,0.000,2791,1984,2023,1865,2182,0,0,0,0,0,0,28.83,28.83,25.12
$GC,2354,1.80,226.4,2790,1984,1864,2178,56.5,15.3,282,2379,0.00,2.38,18.67,0.500,8452,0.000,0.054,2791,3403,1936,1780,2093,0,0,0,0,0,0,28.83,25.98,25.12
$GC,2489,1.84,252.2,2790,3404,1781,2093,35.5,15.0,308,2521,0.00,2.28,22.38,0.492,9222,0.000,0.046,2798,1986,1829,1670,1989,0,0,0,0,0,0,28.83,26.04,25.03
$GC,2701,2.01,300.1,2798,1985,1670,1988,7.0,13.5,332,2727,0.12,2.22,19.10,0.053,10756,0.087,0.054,2867,580,1637,1477,1798,0,0,0,0,0,0,26.25,25.96,26.04
$STATE,2733,end climb,SURFACE_DEPTH_REACHED
$STATE,2733,begin surface coast
$FINISH,0.9,1.009330
$STATE,2747,end surface coast,CONTROL_FINISHED_OK
$STATE,2747,begin surface
$SM_CCo,2769,0.03,0.258,0,0,1638,300.00
$SM_GC,2.66,7.50,2.20,0.03,0.047,0.044,0.258,95,1922,1638,-10.58,-0.82,300.00,0,0,0,0,0,0,25.97,26.07,26.18
$IRIDIUM_FIX,4707.04,-12221.20,210921,184841
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.71
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,19.40
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,170.2,58.8
$SC_FREEKB,3964064
$24V_AH,24.32,9.942
$10V_AH,9.46,5.919
$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,18.575,32.175,372.600,0.025,0.000,0.000,0.000,233.250,4.750,0.000,38.663,713.800,1111.209,418.728,799.229,230.586,33.280,995.297,0.000,520.663,0.000,18.881,0.000
$DEVICE_MAMPS,261.630,76.500,593.640,257.805,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2756.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.623,0.000,0.000,0.000
$MEM,203692
$DATA_FILE_SIZE,10127,340
$CAP_FILE_SIZE,59762,0
$CFSIZE,260034560,245837824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3223.28,0x239dd2,7,5
$CURRENT,0.148,310.9,1
$GPS,190714,100044,4726.241,-12222.981,14,1.8,14,18.1