version: 66.12
glider: 178
mission: 17
dive: 4
start: 9 9 114 18 52 19
data:
$ID,178
$MISSION,17
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,160
$D_ABORT,1090
$D_NO_BLEED,100
$D_BOOST,3
$T_BOOST,0
$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,50
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51513
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0025937001
$HD_B,0.01134
$HD_C,1.234e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$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,15
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3325
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,20
$AH0_24V,145.5
$AH0_10V,98.470001
$MINV_24V,21
$MINV_10V,9
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-45.230171
$PRESSURE_SLOPE,0.0001161899
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,0.0
$GPS1,090914,184801,4744.496,-12224.254,10,1.3,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-76.5
$GPS2,090914,185209,4744.521,-12224.255,9,1.3,29,18.2
$SPEED_LIMITS,0.231,0.336
$TGT_NAME,MID
$TGT_LATLONG,4743.500,-12224.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,166.9,1917,-17.6,-13.333,-21.62,2762
$D_GRID,177
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.89,-244.4,162,2221,1564,1515,0.0,0.0,0,108,0.00,0.00,-92.35,0.000,16386,0.000,0.000,162,2220,3837,3861,3813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.89,-244.4,162,2221,3862,3815,5.7,-12.0,9,128,10.43,2.30,-1.92,0.000,18692,0.263,0.065,2549,3661,3963,3996,3931,0,0,0,0,0,0,26.26,26.68,27.00
$GC,132,-0.89,-244.4,2550,3662,3998,3932,17.6,-41.3,11,140,0.00,2.20,0.00,0.000,1030,0.000,0.039,2550,2244,3965,3999,3932,0,0,0,0,0,0,28.83,26.75,28.83
$GC,317,-0.89,-244.4,2551,2242,4003,3932,84.3,-31.0,30,321,0.00,2.33,0.00,0.000,260,0.000,0.063,2542,3654,3967,4004,3931,0,0,0,0,0,0,28.83,26.72,28.83
$GC,362,-0.89,-244.4,2542,3655,4005,3932,96.0,-29.3,34,370,0.00,2.17,0.00,0.000,1030,0.000,0.038,2542,2253,3967,4004,3931,0,0,0,0,0,0,28.83,26.86,28.83
$GC,547,-0.89,-244.4,2541,2251,4006,3932,150.6,-27.8,53,551,0.00,2.30,0.00,0.000,260,0.000,0.063,2532,3654,3968,4005,3931,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,586,begin apogee
$GC,591,-0.17,0.0,2533,1903,4004,3932,162.7,-30.4,57,719,0.93,0.00,121.65,0.707,10246,0.175,0.000,2794,1898,3324,3348,3301,0,0,0,0,0,0,26.50,28.83,24.92
$STATE,720,end apogee,CONTROL_FINISHED_OK
$STATE,720,begin climb
$GC,721,0.89,244.4,2795,1899,3348,3301,173.1,0.0,70,924,0.98,2.38,195.65,0.694,11012,0.087,0.054,3128,3309,2328,2358,2298,0,0,0,0,0,0,25.66,25.42,24.77
$GC,1148,0.89,244.4,3127,3309,2349,2298,146.6,13.5,112,1155,0.00,2.25,0.00,0.000,1030,0.000,0.038,3139,1897,2322,2347,2297,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1334,0.90,255.8,3140,1894,2347,2295,121.2,12.9,131,1348,0.00,2.33,9.77,0.591,8452,0.000,0.055,3139,3302,2282,2307,2257,0,0,0,0,0,0,28.83,26.42,25.77
$GC,1428,0.90,255.8,3138,3303,2306,2256,107.1,16.2,140,1436,0.00,2.22,0.00,0.000,1030,0.000,0.038,3150,1892,2280,2304,2256,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1614,0.90,255.8,3149,1890,2304,2257,77.9,15.2,159,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1889,2279,2302,2257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1794,0.93,283.5,3151,1889,2302,2255,55.6,12.3,177,1826,0.00,2.28,23.98,0.610,8708,0.000,0.050,3161,493,2167,2193,2141,0,0,0,0,0,0,28.83,26.43,25.77
$GC,1924,0.93,283.5,3160,494,2194,2134,37.8,13.9,190,1929,0.00,2.22,0.00,0.000,1030,0.000,0.041,3161,1889,2162,2192,2133,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2115,0.93,283.5,3160,1891,2194,2133,10.7,14.5,209,2118,0.00,2.28,0.00,0.000,260,0.000,0.057,3161,3303,2162,2192,2132,0,0,0,0,0,0,28.83,26.69,28.83
$STATE,2173,end climb,SURFACE_DEPTH_REACHED
$STATE,2173,begin surface coast
$FINISH,0.1,1.022302
$STATE,2184,end surface coast,CONTROL_FINISHED_OK
$STATE,2184,begin surface
$SM_CCo,2198,6.15,0.069,0,0,2102,300.00
$SM_GC,2.43,8.00,1.67,6.15,0.050,0.034,0.069,162,2224,2102,-8.37,0.65,300.00,0,0,0,0,0,0,26.72,26.83,26.71
$IRIDIUM_FIX,4722.92,-12225.08,090914,184532
$TT8_MAMPS,0.05243,0.05243
$HUMID,56.89
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,19.90
$XPDR_PINGS,2
$24V_AH,24.77,44.739
$10V_AH,10.38,26.682
$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,20.325,31.675,351.050,6.150,0.000,0.000,0.000,0.000,0.500,0.000,31.975,0.000,1223.175,419.130,597.397,29.491,0.000,705.777,0.000,438.136,0.000,0.549,0.000
$DEVICE_MAMPS,263.160,65.025,706.860,68.850,0.000,0.000,0.000,0.000,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,142.334,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264956
$DATA_FILE_SIZE,6889,216
$CAP_FILE_SIZE,41966,0
$CFSIZE,260034560,257871872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2345.32,0x236bc6,7,5
$CURRENT,0.070,51.34,1
$GPS,090914,193045,4744.263,-12224.185,62,1.3,82,18.2