version: 66.12
glider: 124
mission: 17
dive: 174
start: 7 20 114 8 0 42
data:
$ID,124
$MISSION,17
$DIVE,174
$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,-309272
$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,34
$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
$GPS1,200714,075348,4726.169,-12222.711,13,1.6,13,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-68.2
$GPS2,200714,075937,4726.221,-12222.739,14,1.6,14,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.057,-0.283
$KALMAN_X,-13265.2,172.1,281.6,10677.5,-113.2
$KALMAN_Y,15232.8,-128.0,-251.7,-11743.4,33.6
$MHEAD_RNG_PITCHd_Wd,150.1,538,-25.0,-16.667,-28.75,1541
$D_GRID,178
$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,-180.8,94,1916,1535,1747,0.0,0.0,0,94,0.00,0.00,-70.65,0.000,16386,0.000,0.000,95,1916,2805,2828,2783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-1.69,-180.8,95,1916,2828,2784,3.2,-1.7,7,137,8.55,0.00,-24.12,0.000,18694,0.257,0.000,2040,1878,3601,3670,3532,0,0,0,0,0,0,25.25,28.83,26.59
$GC,316,-1.58,-180.8,2039,1878,3670,3534,50.7,-24.8,32,318,0.10,0.00,0.00,0.000,2054,0.202,0.000,2063,1877,3601,3669,3534,0,0,0,0,0,0,26.17,28.83,28.83
$GC,497,-1.58,-180.8,2062,1878,3670,3534,86.4,-19.2,50,503,0.00,2.28,0.00,0.000,260,0.000,0.054,2062,3325,3601,3669,3534,0,0,0,0,0,0,28.83,26.10,28.83
$GC,571,-1.58,-180.8,2062,3325,3669,3534,99.5,-16.9,64,577,0.00,2.25,0.00,0.000,1030,0.000,0.047,2063,1915,3601,3669,3534,0,0,0,0,0,0,28.83,26.21,28.83
$GC,766,-1.58,-180.8,2063,1915,3669,3534,134.0,-17.5,84,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1915,3601,3669,3534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,946,-1.58,-180.8,2063,1915,3669,3534,165.7,-17.4,102,952,0.00,2.28,0.00,0.000,260,0.000,0.055,2063,3321,3601,3669,3534,0,0,0,0,0,0,28.83,26.17,28.83
$GC,980,-1.58,-180.8,2063,3321,3669,3534,172.0,-17.9,108,986,0.00,2.25,0.00,0.000,1030,0.000,0.047,2063,1909,3601,3669,3534,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,1021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1021,begin apogee
$GC,1029,-0.47,0.0,2063,2006,3669,3534,179.7,-17.5,113,1179,0.75,0.00,142.30,0.583,10246,0.136,0.000,2302,2007,2859,2764,2954,0,0,0,0,0,0,25.72,28.83,24.44
$STATE,1181,end apogee,CONTROL_FINISHED_OK
$STATE,1181,begin climb
$GC,1184,1.69,180.8,2301,2008,2762,2953,188.9,0.0,128,1341,1.35,2.38,147.02,0.559,10500,0.068,0.052,2777,3409,2121,1946,2296,0,0,0,0,0,0,25.32,25.11,24.32
$GC,1381,1.72,205.9,2777,3409,1946,2291,171.5,15.0,165,1410,0.00,2.33,21.35,0.534,9222,0.000,0.045,2786,1999,2019,1843,2196,0,0,0,0,0,0,28.83,25.44,24.46
$GC,1589,1.72,211.2,2786,2000,1843,2189,138.5,16.3,188,1601,0.00,2.30,4.07,0.422,8452,0.000,0.051,2786,3405,2000,1829,2172,0,0,0,0,0,0,28.83,25.84,24.56
$GC,1646,1.72,211.2,2786,3404,1833,2172,128.9,17.6,198,1651,0.00,2.28,0.00,0.000,1030,0.000,0.046,2795,1988,2002,1833,2172,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1840,1.74,227.5,2795,1988,1833,2172,97.3,15.6,218,1864,0.00,2.22,15.98,0.516,8708,0.000,0.057,2798,596,1932,1765,2099,0,0,0,0,0,0,28.83,25.94,25.01
$GC,1888,1.77,248.2,2798,596,1764,2099,89.6,15.3,226,1915,0.00,2.22,18.23,0.510,9222,0.000,0.043,2798,2001,1847,1679,2016,0,0,0,0,0,0,28.83,26.01,24.89
$GC,2094,1.85,248.2,2798,2000,1679,2013,55.3,18.1,249,2101,0.00,2.20,0.00,0.000,260,0.000,0.052,2798,3407,1846,1679,2013,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2160,1.94,260.3,2798,3407,1681,2010,44.8,15.9,261,2178,0.10,2.25,11.05,0.482,11270,0.102,0.044,2852,1999,1797,1634,1961,0,0,0,0,0,0,26.08,26.09,25.00
$GC,2367,1.94,260.3,2852,1999,1635,1959,8.3,17.7,283,2372,0.00,2.22,0.00,0.000,516,0.000,0.057,2858,583,1797,1636,1958,0,0,0,0,0,0,28.83,26.04,28.83
$STATE,2391,end climb,SURFACE_DEPTH_REACHED
$STATE,2392,begin surface coast
$FINISH,0.8,1.021038
$STATE,2403,end surface coast,CONTROL_FINISHED_OK
$STATE,2403,begin surface
$SM_CCo,2426,15.55,0.050,0,0,1638,300.00
$SM_GC,2.57,7.47,2.17,15.55,0.050,0.044,0.050,96,1914,1638,-10.58,-1.07,300.00,0,0,0,0,0,0,26.01,26.15,26.13
$IRIDIUM_FIX,4703.87,-12058.37,220921,174130
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.27
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.80
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,160.5,35.9
$SC_FREEKB,3952928
$24V_AH,24.32,11.760
$10V_AH,9.50,6.968
$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,18.325,31.825,360.000,15.550,0.000,0.000,0.000,180.425,4.750,0.000,14.892,609.116,915.685,421.886,646.156,215.397,33.273,913.573,0.000,450.143,0.000,14.720,0.000
$DEVICE_MAMPS,257.040,71.910,582.930,49.725,0.000,0.000,0.000,117.810,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2414.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.898,0.000,0.000,0.000
$MEM,203716
$DATA_FILE_SIZE,10106,290
$CAP_FILE_SIZE,54421,0
$CFSIZE,260034560,244801536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2851.35,0x239dd2,7,5
$CURRENT,0.117,308.7,1
$GPS,200714,084225,4725.954,-12222.765,15,2.0,15,18.1