version: 66.12
glider: 124
mission: 17
dive: 146
start: 7 19 114 10 8 32
data:
$ID,124
$MISSION,17
$DIVE,146
$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,-309237
$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,29
$R_STBD_OVSHOOT,28
$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
$GPS1,190714,100044,4726.241,-12222.981,14,1.8,14,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-66.4
$GPS2,190714,100727,4726.323,-12223.040,15,2.5,35,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.180,-0.245
$KALMAN_X,-13489.5,-151.4,-293.6,11423.0,-235.1
$KALMAN_Y,14345.7,250.8,163.6,-11457.9,217.0
$MHEAD_RNG_PITCHd_Wd,124.0,821,-25.0,-16.667,-28.75,1541
$D_GRID,195
$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,-180.8,95,1912,1517,1759,0.0,0.0,0,94,0.00,0.00,-70.62,0.000,16386,0.000,0.000,95,1912,2800,2820,2781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.69,-180.8,94,1912,2820,2783,3.0,-1.7,7,141,8.55,2.35,-26.58,0.000,18692,0.258,0.068,2038,3338,3599,3675,3524,0,0,0,0,0,0,25.28,25.94,26.55
$GC,183,-1.59,-180.8,2038,3338,3675,3527,16.3,-23.0,22,190,0.10,2.30,0.00,0.000,3078,0.184,0.049,2062,1922,3599,3673,3526,0,0,0,0,0,0,25.82,26.03,28.83
$GC,369,-1.59,-180.8,2061,1921,3675,3527,56.8,-19.7,41,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,1921,3600,3675,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,550,-1.59,-180.8,2061,1921,3675,3527,89.5,-16.4,59,555,0.00,2.28,0.00,0.000,260,0.000,0.055,2061,3329,3600,3675,3526,0,0,0,0,0,0,28.83,26.08,28.83
$GC,624,-1.59,-180.8,2061,3329,3675,3527,102.2,-16.6,73,631,0.00,2.28,0.00,0.000,1030,0.000,0.047,2062,1915,3601,3675,3527,0,0,0,0,0,0,28.83,26.21,28.83
$GC,820,-1.59,-180.8,2061,1914,3675,3526,138.0,-18.6,93,826,0.00,2.20,0.00,0.000,516,0.000,0.057,2062,504,3600,3675,3526,0,0,0,0,0,0,28.83,26.15,28.83
$GC,845,-1.59,-180.8,2062,504,3674,3527,143.1,-20.0,97,851,0.00,2.25,0.00,0.000,1030,0.000,0.047,2062,1927,3600,3675,3526,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1040,-1.59,-180.8,2062,1928,3674,3527,178.6,-17.8,117,1047,0.00,2.30,0.00,0.000,516,0.000,0.057,2062,505,3601,3675,3527,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1100,-1.59,-180.8,2062,504,3674,3527,190.5,-19.7,128,1107,0.00,2.25,0.00,0.000,1030,0.000,0.046,2062,1931,3600,3674,3527,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,1122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1123,begin apogee
$GC,1131,-0.47,0.0,2061,2006,3674,3526,195.3,-19.1,131,1281,0.77,0.00,143.43,0.592,10246,0.138,0.000,2306,2006,2861,2773,2949,0,0,0,0,0,0,25.69,28.83,24.42
$STATE,1283,end apogee,CONTROL_FINISHED_OK
$STATE,1283,begin climb
$GC,1286,1.69,180.8,2306,2006,2769,2948,206.3,0.0,146,1442,1.42,0.00,147.52,0.572,10758,0.093,0.000,2779,2006,2123,1952,2295,0,0,0,0,0,0,25.23,28.83,24.32
$GC,1621,1.72,209.3,2779,2006,1951,2286,170.7,14.8,183,1650,0.00,0.00,23.70,0.543,8198,0.000,0.000,2778,2006,2004,1836,2173,0,0,0,0,0,0,28.83,28.83,24.71
$GC,1830,1.72,209.3,2779,2006,1837,2173,136.4,16.8,204,1836,0.00,2.33,0.00,0.000,516,0.000,0.056,2786,579,2005,1837,2173,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1869,1.72,209.3,2786,579,1837,2173,129.7,17.7,211,1876,0.00,2.28,0.00,0.000,1030,0.000,0.044,2786,2003,2005,1837,2173,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2055,1.76,238.4,2786,2004,1838,2171,99.4,14.7,230,2083,0.00,0.00,24.88,0.519,8198,0.000,0.000,2786,2004,1887,1723,2052,0,0,0,0,0,0,28.83,28.83,25.04
$GC,2265,1.87,264.4,2786,2004,1725,2052,65.5,14.9,251,2297,0.12,2.30,22.27,0.503,10500,0.086,0.054,2848,3411,1780,1622,1939,0,0,0,0,0,0,26.27,25.89,25.03
$GC,2357,1.87,264.4,2848,3410,1626,1938,47.2,21.2,268,2364,0.15,2.28,0.00,0.000,5126,0.161,0.047,2820,2001,1782,1626,1938,0,0,0,0,0,0,25.70,25.94,28.83
$GC,2544,1.95,266.1,2820,2000,1626,1938,15.6,16.6,287,2550,0.00,2.22,0.00,0.000,516,0.000,0.057,2829,590,1782,1627,1938,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2599,2.06,276.4,2829,590,1626,1938,6.7,16.0,297,2612,0.10,2.25,4.78,0.054,11270,0.103,0.044,2870,2004,1735,1582,1889,0,0,0,0,0,0,26.10,26.13,26.08
$STATE,2618,end climb,SURFACE_DEPTH_REACHED
$STATE,2618,begin surface coast
$FINISH,0.9,1.020686
$STATE,2629,end surface coast,CONTROL_FINISHED_OK
$STATE,2629,begin surface
$SM_CCo,2650,9.50,0.050,0,0,1638,300.00
$SM_GC,2.63,7.53,0.20,9.50,0.049,0.072,0.050,91,1914,1638,-10.61,0.71,300.00,0,0,0,0,0,0,25.99,26.27,26.10
$IRIDIUM_FIX,4710.21,-12229.00,210921,194227
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.59
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,11
$SC_FREEKB,3963680
$24V_AH,24.32,10.008
$10V_AH,9.23,5.959
$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,18.750,32.225,366.575,9.500,0.000,0.000,0.000,212.175,4.750,0.000,35.852,666.488,1018.685,456.041,715.531,221.863,33.278,977.617,0.000,464.913,0.000,13.684,0.000
$DEVICE_MAMPS,257.805,134.640,592.110,49.725,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2639.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.815,0.000,0.000,0.000
$MEM,203700
$DATA_FILE_SIZE,10141,301
$CAP_FILE_SIZE,58252,0
$CFSIZE,260034560,245796864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,315.9,1
$GPS,190714,105406,4726.102,-12222.816,29,2.0,29,18.1