version: 66.12
glider: 124
mission: 17
dive: 177
start: 7 20 114 10 26 37
data:
$ID,124
$MISSION,17
$DIVE,177
$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,-309275.75
$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,29
$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
$GPS1,200714,101927,4725.842,-12222.546,10,2.6,30,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-68.2
$GPS2,200714,102533,4725.923,-12222.614,14,2.4,34,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.199,-0.230
$KALMAN_X,-13612.0,82.3,-9.6,11561.5,-185.7
$KALMAN_Y,15878.8,-56.7,-34.1,-13227.4,233.6
$MHEAD_RNG_PITCHd_Wd,120.1,1251,-25.0,-16.667,-28.75,1541
$D_GRID,171
$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,-180.8,90,1914,1533,1750,0.0,0.0,0,94,0.00,0.00,-70.20,0.000,16386,0.000,0.000,91,1914,2824,2848,2801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-1.69,-180.8,90,1914,2848,2802,3.3,-2.0,7,136,8.57,2.42,-22.88,0.000,18692,0.258,0.070,2038,3338,3601,3671,3532,0,0,0,0,0,0,25.29,25.67,26.63
$GC,163,-1.56,-180.8,2037,3338,3671,3533,13.3,-18.4,18,170,0.12,2.28,0.00,0.000,3078,0.181,0.048,2068,1921,3602,3671,3534,0,0,0,0,0,0,25.79,26.08,28.83
$GC,348,-1.56,-180.8,2067,1921,3671,3534,52.7,-18.8,37,354,0.00,2.20,0.00,0.000,516,0.000,0.055,2068,511,3602,3671,3534,0,0,0,0,0,0,28.83,26.08,28.83
$GC,383,-1.56,-180.8,2068,511,3671,3534,59.4,-19.3,43,389,0.00,2.25,0.00,0.000,1030,0.000,0.044,2068,1935,3602,3671,3534,0,0,0,0,0,0,28.83,26.17,28.83
$GC,577,-1.56,-180.8,2068,1935,3670,3534,95.3,-17.0,63,582,0.00,2.17,0.00,0.000,260,0.000,0.055,2068,3326,3602,3670,3534,0,0,0,0,0,0,28.83,26.10,28.83
$GC,641,-1.56,-180.8,2068,3326,3670,3534,106.7,-17.7,75,647,0.00,2.22,0.00,0.000,1030,0.000,0.045,2068,1918,3602,3670,3534,0,0,0,0,0,0,28.83,26.24,28.83
$GC,836,-1.56,-180.8,2067,1919,3670,3534,139.1,-16.3,95,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,1918,3601,3670,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1016,-1.56,-180.8,2068,1918,3670,3534,170.2,-17.2,113,1022,0.00,2.17,0.00,0.000,516,0.000,0.054,2068,515,3601,3669,3534,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,1027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1028,begin apogee
$GC,1038,-0.47,0.0,2067,2009,3669,3534,172.8,-17.6,115,1193,0.75,0.00,143.98,0.583,10246,0.138,0.000,2305,2009,2857,2763,2952,0,0,0,0,0,0,25.67,28.83,24.46
$STATE,1194,end apogee,CONTROL_FINISHED_OK
$STATE,1194,begin climb
$GC,1198,1.69,180.8,2305,2009,2762,2952,182.3,0.0,131,1354,1.38,2.30,145.62,0.555,10500,0.076,0.050,2782,3411,2120,1944,2296,0,0,0,0,0,0,25.31,25.12,24.35
$GC,1389,1.71,198.0,2782,3411,1945,2292,164.0,15.5,165,1410,0.00,2.33,14.85,0.519,9222,0.000,0.044,2791,1995,2051,1874,2229,0,0,0,0,0,0,28.83,25.42,24.49
$GC,1589,1.72,209.6,2791,1995,1874,2221,132.3,15.9,187,1606,0.00,2.25,10.32,0.506,8708,0.000,0.055,2799,591,2003,1830,2176,0,0,0,0,0,0,28.83,25.77,24.80
$GC,1639,1.72,209.6,2799,593,1831,2175,123.8,17.6,196,1646,0.00,2.28,0.00,0.000,1030,0.000,0.042,2799,2008,2003,1831,2175,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1825,1.74,226.3,2799,2009,1832,2172,94.7,15.6,215,1847,0.00,2.25,15.00,0.509,8452,0.000,0.052,2799,3414,1936,1767,2106,0,0,0,0,0,0,28.83,25.93,24.98
$GC,1891,1.74,226.3,2799,3414,1769,2104,83.2,18.9,227,1896,0.00,2.28,0.00,0.000,1030,0.000,0.044,2809,1992,1936,1769,2103,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2085,1.74,229.8,2809,1992,1769,2101,50.3,16.4,247,2096,0.00,2.33,3.20,0.350,8452,0.000,0.051,2809,3421,1926,1762,2091,0,0,0,0,0,0,28.83,26.10,24.72
$GC,2121,1.76,240.5,2809,3421,1763,2091,44.7,16.0,253,2138,0.12,2.28,11.35,0.488,13318,0.158,0.045,2787,1992,1879,1712,2047,0,0,0,0,0,0,25.92,26.13,25.06
$GC,2328,1.96,290.6,2786,1992,1712,2043,16.5,13.3,275,2355,0.15,2.28,21.58,0.076,10756,0.079,0.056,2864,596,1677,1516,1839,0,0,0,0,0,0,26.34,26.06,25.98
$STATE,2405,end climb,SURFACE_DEPTH_REACHED
$STATE,2405,begin surface coast
$FINISH,0.9,1.008606
$STATE,2416,end surface coast,CONTROL_FINISHED_OK
$STATE,2416,begin surface
$SM_CCo,2439,3.85,0.049,0,0,1638,300.00
$SM_GC,3.00,7.50,2.17,3.85,0.049,0.044,0.049,91,1934,1638,-10.60,-0.65,300.00,0,0,0,0,0,0,26.00,26.15,26.14
$IRIDIUM_FIX,4719.74,-12222.64,220921,200642
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.67
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,151.1,36.6
$SC_FREEKB,3951776
$24V_AH,24.35,11.941
$10V_AH,9.59,7.080
$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,18.600,40.875,365.900,3.850,0.000,0.000,0.000,177.425,4.000,0.000,35.066,617.676,896.623,422.401,664.740,223.805,33.284,915.475,0.000,452.029,0.000,13.172,0.000
$DEVICE_MAMPS,257.805,70.380,582.930,48.960,0.000,0.000,0.000,117.810,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2424.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.453,0.000,0.000,0.000
$MEM,203712
$DATA_FILE_SIZE,10124,291
$CAP_FILE_SIZE,55978,0
$CFSIZE,260034560,244695040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2948.47,0x239dd2,7,5
$CURRENT,0.141,315.5,1
$GPS,200714,110819,4725.774,-12222.450,14,1.7,14,18.1