version: 66.12
glider: 124
mission: 17
dive: 52
start: 7 16 114 6 37 43
data:
$ID,124
$MISSION,17
$DIVE,52
$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,240
$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,-307918.19
$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,29
$ROLL_AD_RATE,300
$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
$GPS1,160714,062855,4726.653,-12223.101,11,1.8,11,18.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-67.4
$GPS2,160714,063636,4726.708,-12223.277,11,1.8,16,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,HEADING
$TGT_LATLONG,4721.309,-12237.083
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.010,-0.304
$KALMAN_X,-6788.0,-73.1,-6.7,4066.8,-478.6
$KALMAN_Y,6065.8,287.0,180.1,-2514.5,465.7
$MHEAD_RNG_PITCHd_Wd,181.9,20000,-25.0,-16.667,-28.75,1541
$D_GRID,200
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.69,-180.8,90,1910,1511,1751,0.0,0.0,0,102,0.00,0.00,-79.68,0.000,16386,0.000,0.000,91,1911,2943,2972,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.69,-180.8,91,1910,2972,2915,3.3,-1.8,8,141,8.55,2.28,-18.27,0.000,18948,0.259,0.070,2039,512,3601,3667,3536,0,0,1,0,0,0,25.38,25.58,26.49
$GC,370,-1.58,-180.8,2039,512,3668,3537,51.7,-17.1,59,377,0.12,2.25,0.00,0.000,3078,0.191,0.047,2068,1928,3602,3668,3537,0,0,0,0,0,0,25.79,26.10,28.83
$GC,557,-1.58,-180.8,2068,1927,3668,3537,79.8,-15.2,78,562,0.00,2.30,0.00,0.000,516,0.000,0.056,2069,505,3602,3668,3537,0,0,0,0,0,0,28.83,26.07,28.83
$GC,733,-1.58,-180.8,2069,505,3667,3537,105.9,-13.4,112,738,0.00,2.25,0.00,0.000,1030,0.000,0.047,2069,1920,3602,3668,3537,0,0,0,0,0,0,28.83,26.19,28.83
$GC,927,-1.58,-180.8,2069,1920,3667,3537,134.6,-15.2,132,932,0.00,2.28,0.00,0.000,516,0.000,0.056,2069,508,3602,3667,3537,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1059,-1.58,-180.8,2069,508,3667,3537,159.1,-21.1,157,1068,0.00,2.25,0.00,0.000,1030,0.000,0.047,2069,1928,3601,3666,3537,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1247,-1.58,-180.8,2069,1930,3666,3537,190.8,-15.8,176,1252,0.00,2.20,0.00,0.000,260,0.000,0.058,2072,3333,3601,3666,3537,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1282,-1.58,-180.8,2069,3333,3666,3537,196.4,-16.2,182,1287,0.00,2.25,0.00,0.000,1030,0.000,0.049,2069,1922,3601,3666,3537,0,0,0,0,0,0,28.83,26.24,28.83
$STATE,1304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1304,begin apogee
$GC,1313,-0.47,0.0,2069,2007,3666,3537,200.5,-16.2,185,1467,0.75,0.00,143.38,0.593,10246,0.138,0.000,2305,2008,2856,2749,2964,0,0,0,0,0,0,25.68,28.83,24.46
$STATE,1469,end apogee,CONTROL_FINISHED_OK
$STATE,1469,begin climb
$GC,1472,1.69,180.8,2305,2008,2748,2964,210.1,0.0,201,1630,1.40,2.38,147.10,0.571,10500,0.087,0.055,2775,3403,2118,1937,2300,0,0,0,0,0,0,25.24,25.02,24.32
$GC,1653,1.73,221.0,2775,3403,1937,2295,195.6,14.0,233,1691,0.00,2.35,33.12,0.549,9222,0.000,0.047,2785,1989,1961,1777,2145,0,0,0,0,0,0,28.83,25.27,24.43
$GC,1870,1.73,221.0,2785,1989,1776,2130,152.8,22.2,258,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1989,1953,1776,2130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2050,1.73,221.0,2785,1989,1777,2126,116.0,17.8,276,2055,0.00,2.22,0.00,0.000,516,0.000,0.057,2794,593,1951,1777,2126,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2108,1.73,221.0,2793,594,1779,2124,104.9,19.1,287,2115,0.00,2.25,0.00,0.000,1030,0.000,0.046,2794,2004,1952,1779,2125,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2294,1.73,221.0,2793,2004,1779,2123,69.9,18.2,306,2300,0.00,2.22,0.00,0.000,260,0.000,0.057,2794,3409,1950,1779,2122,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2402,1.81,280.3,2793,3409,1782,2116,49.3,12.7,326,2459,0.00,2.28,48.60,0.502,9222,0.000,0.047,2804,1985,1714,1553,1875,0,0,0,0,0,0,28.83,26.12,25.08
$GC,2648,1.87,280.3,2803,1985,1554,1870,5.0,17.0,356,2653,0.00,2.33,0.00,0.000,260,0.000,0.054,2804,3413,1712,1554,1870,0,0,0,0,0,0,28.83,25.91,28.83
$STATE,2660,end climb,SURFACE_DEPTH_REACHED
$STATE,2660,begin surface coast
$FINISH,0.8,1.021716
$STATE,2671,end surface coast,CONTROL_FINISHED_OK
$STATE,2671,begin surface
$SM_CCo,2694,7.03,0.048,0,0,1638,300.00
$SM_GC,3.15,7.38,2.47,7.03,0.050,0.050,0.048,94,1926,1638,-10.58,0.96,300.00,0,0,0,0,0,0,25.94,25.96,26.00
$IRIDIUM_FIX,4710.21,-12221.92,180921,170456
$TT8_MAMPS,0.028462,0.028462
$HUMID,66.02
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,19.20
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,181.2,57.7
$SC_FREEKB,3999776
$24V_AH,24.32,4.169
$10V_AH,9.78,2.540
$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,18.200,36.725,372.200,7.025,0.000,0.000,0.000,241.075,6.500,0.000,16.953,740.286,980.275,433.227,812.983,218.298,33.264,1031.858,0.000,545.631,0.000,17.885,0.000
$DEVICE_MAMPS,258.570,74.970,592.875,48.195,0.000,0.000,0.000,112.455,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2678.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.784,0.000,0.000,0.000
$MEM,204064
$DATA_FILE_SIZE,13448,360
$CAP_FILE_SIZE,60241,0
$CFSIZE,260034560,249135104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$INTR,0,1949.94,0x239dd2,7,5
$CURRENT,0.303,307.5,1
$GPS,160714,072403,4726.623,-12223.767,13,2.2,33,18.1