version: 66.12
glider: 124
mission: 17
dive: 179
start: 7 20 114 12 4 0
data:
$ID,124
$MISSION,17
$DIVE,179
$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,-309278.25
$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,24
$R_STBD_OVSHOOT,30
$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
$GPS1,200714,115655,4725.742,-12222.307,9,2.0,9,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-67.7
$GPS2,200714,120255,4725.811,-12222.354,17,1.6,17,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.178,-0.246
$KALMAN_X,-13803.1,-2.7,-207.7,12361.4,-149.6
$KALMAN_Y,16257.2,51.1,189.2,-14145.8,219.2
$MHEAD_RNG_PITCHd_Wd,125.4,880,-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,-180.8,92,1929,1529,1750,0.0,0.0,0,94,0.00,0.00,-70.38,0.000,16386,0.000,0.000,91,1930,2799,2820,2779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.69,-180.8,91,1929,2820,2780,3.0,-1.5,7,141,8.52,2.30,-26.48,0.000,18692,0.256,0.067,2036,3329,3600,3670,3530,0,0,0,0,0,0,25.27,25.95,26.58
$GC,178,-1.57,-180.8,2035,3329,3671,3533,14.6,-20.8,21,185,0.12,2.28,0.00,0.000,3078,0.183,0.047,2066,1914,3602,3671,3533,0,0,0,0,0,0,25.76,26.06,28.83
$GC,374,-1.57,-180.8,2065,1914,3670,3533,55.5,-19.1,41,380,0.00,2.20,0.00,0.000,516,0.000,0.057,2066,508,3601,3670,3532,0,0,0,0,0,0,28.83,26.06,28.83
$GC,403,-1.57,-180.8,2066,508,3670,3533,61.5,-21.1,46,410,0.00,2.25,0.00,0.000,1030,0.000,0.046,2066,1924,3601,3670,3533,0,0,0,0,0,0,28.83,26.14,28.83
$GC,589,-1.57,-180.8,2066,1924,3669,3533,95.7,-18.2,65,595,0.00,2.20,0.00,0.000,260,0.000,0.057,2066,3328,3601,3670,3532,0,0,0,0,0,0,28.83,26.09,28.83
$GC,634,-1.57,-180.8,2066,3327,3670,3533,103.2,-16.1,73,640,0.00,2.25,0.00,0.000,1030,0.000,0.047,2066,1916,3601,3669,3533,0,0,0,0,0,0,28.83,26.22,28.83
$GC,829,-1.57,-180.8,2066,1915,3669,3532,136.1,-17.3,93,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,1915,3601,3669,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1009,-1.57,-180.8,2066,1915,3669,3533,167.1,-16.7,111,1015,0.00,2.20,0.00,0.000,516,0.000,0.057,2066,506,3601,3670,3533,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,1030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1030,begin apogee
$GC,1040,-0.47,0.0,2066,1999,3669,3533,171.2,-17.2,115,1195,0.77,0.00,144.23,0.577,10246,0.138,0.000,2307,1999,2857,2763,2952,0,0,0,0,0,0,25.69,28.83,24.46
$STATE,1197,end apogee,CONTROL_FINISHED_OK
$STATE,1197,begin climb
$GC,1200,1.69,180.8,2306,1999,2761,2951,180.2,0.0,131,1361,1.40,2.38,147.40,0.552,10500,0.089,0.054,2779,3411,2120,1945,2295,0,0,0,0,0,0,25.27,25.12,24.36
$GC,1401,1.69,180.8,2779,3411,1945,2291,161.1,17.3,162,1406,0.00,2.33,0.00,0.000,1030,0.000,0.046,2789,1999,2117,1945,2290,0,0,0,0,0,0,28.83,25.46,28.83
$GC,1596,1.69,185.1,2790,1999,1945,2284,129.5,16.4,182,1601,0.00,2.25,0.00,0.000,516,0.000,0.056,2798,579,2114,1945,2284,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1640,1.69,185.1,2798,579,1945,2284,122.1,17.5,190,1646,0.00,2.28,0.00,0.000,1030,0.000,0.044,2798,2005,2114,1945,2283,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1835,1.70,195.7,2797,2005,1945,2281,91.2,16.0,210,1854,0.00,2.25,11.77,0.490,8452,0.000,0.052,2798,3417,2061,1892,2230,0,0,0,0,0,0,28.83,26.03,25.08
$GC,1892,1.71,198.1,2798,3417,1894,2228,82.0,16.5,220,1900,0.12,2.28,0.00,0.000,5126,0.158,0.044,2778,1987,2061,1895,2228,0,0,0,0,0,0,25.86,26.06,28.83
$GC,2080,1.86,248.7,2777,1987,1894,2227,56.1,13.3,239,2132,0.12,2.35,45.15,0.496,10500,0.088,0.051,2839,3409,1845,1676,2015,0,0,0,0,0,0,26.36,25.80,25.01
$GC,2178,1.86,248.7,2838,3409,1678,2012,37.6,19.9,257,2185,0.15,2.28,0.00,0.000,5126,0.159,0.044,2811,2000,1845,1678,2012,0,0,0,0,0,0,25.63,25.88,28.83
$GC,2374,1.99,283.5,2810,2001,1678,2008,7.6,14.4,277,2397,0.12,2.25,14.05,0.054,10756,0.089,0.056,2876,583,1706,1546,1866,0,0,0,0,0,0,26.26,25.97,26.03
$STATE,2402,end climb,SURFACE_DEPTH_REACHED
$STATE,2402,begin surface coast
$FINISH,0.8,1.020726
$STATE,2413,end surface coast,CONTROL_FINISHED_OK
$STATE,2416,begin surface
$SM_CCo,2438,6.60,0.050,0,0,1638,300.00
$SM_GC,3.15,7.55,2.20,6.60,0.049,0.044,0.050,94,1934,1638,-10.59,-0.71,300.00,0,0,0,0,0,0,25.93,26.07,26.06
$IRIDIUM_FIX,4716.56,-12308.66,220921,214445
$TT8_MAMPS,0.029211,0.029211
$HUMID,65.39
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.80
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,151.6,33.2
$SC_FREEKB,3951008
$24V_AH,24.36,12.062
$10V_AH,9.29,7.155
$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,18.900,40.975,362.600,6.600,0.000,0.000,0.000,187.500,3.750,0.000,17.784,605.606,906.257,443.718,647.692,218.855,33.279,935.887,0.000,449.689,0.000,13.105,0.000
$DEVICE_MAMPS,255.510,181.305,576.810,49.725,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2425.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.527,0.000,0.000,0.000
$MEM,203676
$DATA_FILE_SIZE,10155,284
$CAP_FILE_SIZE,55238,0
$CFSIZE,260034560,244621312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,321.6,1
$GPS,200714,124600,4725.610,-12222.142,12,1.7,29,18.1