version: 66.12
glider: 124
mission: 17
dive: 147
start: 7 19 114 11 1 7
data:
$ID,124
$MISSION,17
$DIVE,147
$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,-309238.25
$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,27
$R_STBD_OVSHOOT,24
$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
$GPS1,190714,105406,4726.102,-12222.816,29,2.0,29,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-66.0
$GPS2,190714,110001,4726.165,-12222.859,12,2.0,12,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.140,-0.270
$KALMAN_X,-13583.5,-178.0,-374.5,11848.9,-156.9
$KALMAN_Y,14518.9,295.2,218.6,-12022.5,176.8
$MHEAD_RNG_PITCHd_Wd,134.4,461,-25.0,-16.667,-28.75,1541
$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,20,-1.69,-180.8,91,1913,1528,1749,0.0,0.0,0,102,0.00,0.00,-79.55,0.000,16386,0.000,0.000,92,1913,2984,3032,2937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,91,1915,3032,2938,3.6,-2.1,8,138,8.65,2.35,-16.50,0.000,18692,0.260,0.074,2037,3333,3601,3675,3527,0,0,0,0,0,0,25.27,25.61,26.56
$GC,184,-1.55,-180.8,2037,3332,3676,3529,19.3,-23.5,21,192,0.12,2.33,0.00,0.000,3078,0.182,0.051,2067,1913,3603,3676,3530,0,0,0,0,0,0,25.75,26.05,28.83
$GC,371,-1.55,-180.8,2067,1913,3675,3530,59.3,-18.7,40,376,0.00,2.22,0.00,0.000,516,0.000,0.057,2067,497,3602,3675,3530,0,0,0,0,0,0,28.83,26.04,28.83
$GC,399,-1.55,-180.8,2067,497,3675,3530,64.9,-19.5,45,406,0.00,2.28,0.00,0.000,1030,0.000,0.047,2067,1925,3602,3675,3530,0,0,0,0,0,0,28.83,26.12,28.83
$GC,585,-1.55,-180.8,2067,1925,3675,3530,100.5,-20.8,64,590,0.00,2.20,0.00,0.000,260,0.000,0.057,2067,3326,3602,3675,3530,0,0,0,0,0,0,28.83,26.08,28.83
$GC,640,-1.55,-180.8,2067,3326,3675,3530,109.4,-16.2,74,645,0.00,2.25,0.00,0.000,1030,0.000,0.047,2067,1916,3602,3675,3530,0,0,0,0,0,0,28.83,26.20,28.83
$GC,835,-1.55,-180.8,2067,1917,3674,3530,143.0,-17.5,94,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,1916,3602,3675,3530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1015,-1.55,-180.8,2067,1916,3674,3530,175.7,-17.5,112,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,1917,3602,3674,3530,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1032,begin apogee
$GC,1040,-0.47,0.0,2067,2008,3674,3530,179.3,-17.5,114,1197,0.75,0.00,143.80,0.581,10246,0.140,0.000,2302,2007,2859,2769,2949,0,0,0,0,0,0,25.67,28.83,24.45
$STATE,1198,end apogee,CONTROL_FINISHED_OK
$STATE,1198,begin climb
$GC,1201,1.69,180.8,2302,2007,2768,2949,186.8,0.0,130,1354,1.38,0.00,147.25,0.561,10502,0.080,0.000,2775,2008,2123,1952,2295,0,0,0,0,0,0,25.29,28.83,24.34
$GC,1535,1.72,213.1,2775,2008,1951,2282,149.3,14.5,167,1564,0.00,0.00,26.85,0.528,8198,0.000,0.000,2775,2008,1991,1824,2158,0,0,0,0,0,0,28.83,28.83,24.70
$GC,1745,1.80,213.1,2775,2008,1824,2154,116.3,16.9,188,1751,0.10,2.22,0.00,0.000,2308,0.100,0.052,2823,3408,1989,1824,2154,0,0,0,0,0,0,26.13,25.86,28.83
$GC,1770,1.80,213.1,2823,3407,1825,2151,111.7,18.1,192,1776,0.15,2.28,0.00,0.000,5126,0.163,0.047,2796,1999,1988,1825,2151,0,0,0,0,0,0,25.67,25.94,28.83
$GC,1965,1.80,220.2,2796,1999,1825,2149,78.6,16.2,212,1978,0.00,2.38,6.72,0.462,8452,0.000,0.054,2796,3411,1961,1799,2123,0,0,0,0,0,0,28.83,26.06,25.05
$GC,1996,1.82,232.2,2795,3411,1800,2122,73.5,15.9,217,2014,0.00,2.28,11.15,0.487,9222,0.000,0.047,2803,1998,1912,1751,2074,0,0,0,0,0,0,28.83,26.06,25.02
$GC,2194,1.88,232.2,2803,1998,1752,2073,41.3,16.8,238,2199,0.00,2.28,0.00,0.000,260,0.000,0.054,2803,3407,1912,1752,2073,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2219,1.95,240.1,2803,3407,1752,2072,37.3,16.1,242,2235,0.10,2.28,7.75,0.457,11270,0.103,0.047,2855,1988,1879,1719,2040,0,0,0,0,0,0,26.09,26.08,25.07
$STATE,2421,end climb,SURFACE_DEPTH_REACHED
$STATE,2421,begin surface coast
$FINISH,0.9,1.000749
$STATE,2432,end surface coast,CONTROL_FINISHED_OK
$STATE,2432,begin surface
$SM_CCo,2453,23.80,0.048,0,0,1638,300.00
$SM_GC,1.54,7.43,0.10,23.80,0.047,0.112,0.048,96,1918,1638,-10.58,0.96,300.00,0,0,0,0,0,0,26.08,26.37,26.16
$IRIDIUM_FIX,4713.38,-12226.32,210921,203707
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.59
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.40
$XPDR_PINGS,7
$SC_FREEKB,3963296
$24V_AH,24.34,10.070
$10V_AH,9.30,5.996
$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,18.675,27.625,343.525,23.800,0.000,0.000,0.000,189.575,3.750,0.000,12.775,605.778,975.354,437.496,617.529,213.724,33.286,906.390,0.000,412.881,0.000,19.011,0.000
$DEVICE_MAMPS,260.100,111.690,580.635,48.195,0.000,0.000,0.000,118.575,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2441.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.672,0.000,0.000,0.000
$MEM,203676
$DATA_FILE_SIZE,6828,265
$CAP_FILE_SIZE,54098,0
$CFSIZE,260034560,245768192
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3153.53,0x239dd2,7,5
$INTR,1,1256.87,0x23699e,1,24
$CURRENT,0.053,296.5,1
$GPS,190714,114318,4725.861,-12222.711,8,1.4,8,18.1