version: 66.12
glider: 124
mission: 17
dive: 158
start: 7 19 114 19 9 11
data:
$ID,124
$MISSION,17
$DIVE,158
$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,-309252
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,190714,190155,4726.283,-12222.487,12,1.6,12,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-67.7
$GPS2,190714,190807,4726.332,-12222.551,15,1.9,15,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.096,-0.288
$KALMAN_X,-13851.3,24.5,348.8,11580.9,-363.2
$KALMAN_Y,15144.9,162.8,-142.8,-11847.7,123.1
$MHEAD_RNG_PITCHd_Wd,154.3,779,-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,21,-1.69,-180.8,94,1915,1530,1750,0.0,0.0,0,102,0.00,0.00,-79.40,0.000,16386,0.000,0.000,94,1915,2942,2982,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,94,1915,2981,2903,3.4,-1.9,8,141,8.55,2.42,-18.73,0.000,18692,0.256,0.076,2041,3340,3601,3674,3529,0,0,0,0,0,0,25.27,25.97,26.58
$GC,216,-1.59,-180.8,2041,3340,3675,3531,26.4,-23.1,28,222,0.10,2.30,0.00,0.000,3078,0.181,0.049,2064,1914,3603,3674,3532,0,0,0,0,0,0,25.85,26.07,28.83
$GC,411,-1.59,-180.8,2063,1914,3674,3531,65.6,-19.2,48,416,0.00,2.22,0.00,0.000,516,0.000,0.057,2064,499,3603,3674,3532,0,0,0,0,0,0,28.83,26.06,28.83
$GC,486,-1.59,-180.8,2064,499,3674,3531,80.2,-19.3,62,491,0.00,2.28,0.00,0.000,1030,0.000,0.046,2065,1934,3602,3674,3531,0,0,0,0,0,0,28.83,26.16,28.83
$GC,681,-1.59,-180.8,2064,1934,3673,3531,114.2,-17.4,82,686,0.00,2.30,0.00,0.000,516,0.000,0.057,2064,508,3603,3674,3532,0,0,0,0,0,0,28.83,26.13,28.83
$GC,726,-1.59,-180.8,2064,508,3673,3531,122.6,-18.5,90,732,0.00,2.25,0.00,0.000,1030,0.000,0.047,2064,1932,3603,3674,3532,0,0,0,0,0,0,28.83,26.22,28.83
$GC,921,-1.59,-180.8,2064,1932,3673,3531,157.7,-18.0,110,927,0.00,2.20,0.00,0.000,260,0.000,0.057,2064,3332,3602,3673,3531,0,0,0,0,0,0,28.83,26.15,28.83
$GC,966,-1.59,-180.8,2064,3332,3673,3532,166.1,-18.6,118,972,0.00,2.25,0.00,0.000,1030,0.000,0.047,2064,1918,3602,3673,3532,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,1038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1038,begin apogee
$GC,1046,-0.47,0.0,2064,2008,3673,3532,179.7,-17.7,126,1203,0.75,0.00,144.27,0.591,10246,0.138,0.000,2301,2009,2859,2769,2950,0,0,0,0,0,0,25.70,28.83,24.43
$STATE,1204,end apogee,CONTROL_FINISHED_OK
$STATE,1204,begin climb
$GC,1208,1.69,180.8,2301,2009,2766,2950,188.5,0.0,142,1363,1.40,2.33,145.65,0.563,10500,0.077,0.052,2784,3417,2121,1950,2292,0,0,0,0,0,0,25.29,25.09,24.35
$GC,1415,1.70,196.5,2784,3417,1948,2287,169.5,15.6,181,1437,0.00,2.35,13.73,0.522,9222,0.000,0.044,2794,1982,2058,1887,2229,0,0,0,0,0,0,28.83,25.48,24.51
$GC,1626,1.71,198.7,2793,1982,1887,2223,134.2,16.5,204,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1982,2055,1887,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1807,1.73,213.8,2794,1982,1887,2220,105.0,15.7,222,1829,0.00,2.40,14.82,0.515,8452,0.000,0.053,2794,3409,1988,1824,2153,0,0,0,0,0,0,28.83,25.95,25.01
$GC,1867,1.73,213.8,2794,3409,1825,2149,94.1,19.1,233,1874,0.00,2.28,0.00,0.000,1030,0.000,0.046,2804,1996,1987,1825,2149,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2053,1.73,213.8,2803,1996,1825,2149,63.0,17.1,252,2058,0.00,2.22,0.00,0.000,516,0.000,0.058,2813,585,1986,1824,2149,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2101,1.73,214.8,2813,585,1825,2149,55.0,16.6,261,2109,0.12,2.25,0.00,0.000,5126,0.143,0.044,2781,2006,1986,1825,2148,0,0,0,0,0,0,25.96,26.15,28.83
$GC,2289,1.90,267.6,2780,2006,1829,2148,29.5,13.2,280,2338,0.15,2.22,41.33,0.494,10500,0.079,0.053,2843,3408,1767,1608,1927,0,0,0,0,0,0,26.43,25.89,25.08
$GC,2365,1.90,267.6,2843,3408,1610,1925,17.5,18.5,292,2371,0.12,2.28,0.00,0.000,5126,0.161,0.047,2823,2002,1768,1611,1925,0,0,0,0,0,0,25.72,25.91,28.83
$STATE,2446,end climb,SURFACE_DEPTH_REACHED
$STATE,2447,begin surface coast
$FINISH,1.0,1.021368
$STATE,2462,end surface coast,CONTROL_FINISHED_OK
$STATE,2462,begin surface
$SM_CCo,2483,12.62,0.049,0,0,1638,300.00
$SM_GC,2.66,7.40,0.12,12.62,0.048,0.086,0.049,94,1916,1638,-10.58,0.82,300.00,0,0,0,0,0,0,25.96,26.20,26.00
$IRIDIUM_FIX,4710.21,-12220.22,220921,044946
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.90
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.30
$XPDR_PINGS,10
$SC_FREEKB,3959072
$24V_AH,24.35,10.762
$10V_AH,9.29,6.373
$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,18.600,36.875,359.800,12.625,0.000,0.000,0.000,202.700,4.000,0.000,16.119,634.626,910.742,430.926,663.122,243.487,33.275,955.847,0.000,469.205,0.000,10.509,0.000
$DEVICE_MAMPS,256.275,85.680,590.580,48.960,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2471.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.790,0.000,0.000,0.000
$MEM,204100
$DATA_FILE_SIZE,10103,302
$CAP_FILE_SIZE,56722,0
$CFSIZE,260034560,245383168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2930.52,0x239dd2,7,5
$CURRENT,0.111,270.1,1
$GPS,190714,195200,4725.963,-12222.677,10,1.8,28,18.1