version: 66.12
glider: 124
mission: 17
dive: 64
start: 7 16 114 16 41 36
data:
$ID,124
$MISSION,17
$DIVE,64
$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,-307933.19
$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,25
$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
$GPS1,160714,163503,4725.427,-12222.064,9,4.0,29,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-67.7
$GPS2,160714,164030,4725.422,-12222.036,15,2.0,20,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,NORTH
$TGT_LATLONG,4725.800,-12222.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.004,0.289
$KALMAN_X,-7377.3,-145.7,370.5,5898.0,54.1
$KALMAN_Y,7362.7,252.3,-376.5,-5606.9,99.1
$MHEAD_RNG_PITCHd_Wd,349.7,700,-26.4,-16.667,-30.00,1390
$D_GRID,174
$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,16,begin dive
$GC,20,-1.75,-161.4,96,1917,1535,1751,0.0,0.0,0,102,0.00,0.00,-80.15,0.000,16386,0.000,0.000,96,1917,2936,2966,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.77,-180.8,96,1917,2966,2907,3.3,-2.1,8,141,8.48,2.30,-19.42,0.000,18948,0.259,0.080,2021,507,3601,3668,3535,0,0,1,0,0,0,25.38,25.58,26.55
$GC,229,-1.64,-180.8,2020,507,3669,3536,30.8,-26.1,31,237,0.12,2.28,0.00,0.000,3078,0.203,0.047,2050,1921,3602,3669,3536,0,0,0,0,0,0,25.72,26.04,28.83
$GC,416,-1.64,-180.8,2049,1921,3669,3535,69.7,-19.9,50,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,1921,3602,3669,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,596,-1.64,-180.8,2049,1921,3669,3536,102.3,-17.6,68,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,1921,3602,3669,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,777,-1.64,-180.8,2049,1921,3669,3536,132.9,-17.3,86,782,0.00,2.28,0.00,0.000,516,0.000,0.055,2050,508,3602,3669,3536,0,0,0,0,0,0,28.83,26.12,28.83
$GC,811,-1.64,-180.8,2050,508,3669,3536,139.2,-18.7,92,817,0.00,2.25,0.00,0.000,1030,0.000,0.047,2050,1928,3603,3669,3537,0,0,0,0,0,0,28.83,26.19,28.83
$STATE,1003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1003,begin apogee
$GC,1012,-0.47,0.0,2049,2005,3669,3537,174.4,-17.2,112,1167,0.82,0.00,143.77,0.579,10246,0.142,0.000,2306,2005,2857,2749,2965,0,0,0,0,0,0,25.63,28.83,24.49
$STATE,1169,end apogee,CONTROL_FINISHED_OK
$STATE,1169,begin climb
$GC,1172,1.77,180.8,2307,2005,2749,2965,182.1,0.0,128,1328,1.45,0.00,146.52,0.556,10758,0.083,0.000,2798,2005,2121,1944,2298,0,0,0,0,0,0,25.25,28.83,24.34
$GC,1508,1.77,180.8,2798,2005,1943,2286,140.1,16.7,166,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2005,2114,1943,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1688,1.78,188.7,2798,2005,1945,2282,110.6,16.1,184,1700,0.00,2.22,5.07,0.457,8452,0.000,0.054,2798,3405,2094,1928,2260,0,0,0,0,0,0,28.83,25.94,25.03
$GC,1744,1.78,188.7,2798,3405,1929,2259,100.2,19.7,194,1750,0.00,2.28,0.00,0.000,1030,0.000,0.047,2809,1989,2094,1929,2259,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1939,1.79,194.2,2809,1989,1929,2259,65.1,16.3,214,1951,0.00,2.28,6.70,0.465,8708,0.000,0.057,2819,596,2067,1904,2231,0,0,0,0,0,0,28.83,26.06,25.18
$GC,1988,1.79,194.2,2818,597,1904,2231,56.0,18.1,223,1995,0.00,2.22,0.00,0.000,1030,0.000,0.046,2819,1996,2067,1904,2231,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2176,1.85,244.0,2818,1999,1907,2229,27.6,13.0,242,2216,0.00,0.00,38.22,0.490,8454,0.000,0.000,2819,1999,1867,1699,2035,0,0,0,0,0,0,28.83,28.83,25.15
$STATE,2331,end climb,SURFACE_DEPTH_REACHED
$STATE,2332,begin surface coast
$FINISH,1.0,1.001203
$STATE,2343,end surface coast,CONTROL_FINISHED_OK
$STATE,2343,begin surface
$SM_CCo,2364,22.17,0.048,0,0,1638,300.00
$SM_GC,1.38,7.40,0.17,22.17,0.048,0.081,0.048,96,1911,1638,-10.58,0.62,300.00,0,0,1,0,0,0,25.89,26.08,25.98
$IRIDIUM_FIX,4710.21,-12224.61,190921,022428
$TT8_MAMPS,0.029211,0.029211
$HUMID,66.26
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.30
$XPDR_PINGS,12
$SC_FREEKB,3995168
$24V_AH,24.34,4.908
$10V_AH,9.89,2.975
$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,18.275,18.375,340.300,22.175,0.000,0.000,0.000,159.400,5.250,0.000,20.924,580.156,939.657,422.222,590.818,199.609,33.276,855.639,0.000,410.145,0.000,19.086,0.000
$DEVICE_MAMPS,259.335,116.280,579.105,48.195,0.000,0.000,0.000,117.810,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2352.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.074,0.000,0.000,0.000
$MEM,203740
$DATA_FILE_SIZE,6822,262
$CAP_FILE_SIZE,49049,0
$CFSIZE,260034560,248725504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$INTR,0,2789.42,0x239dd2,7,5
$CURRENT,0.174,329.0,1
$GPS,160714,172236,4725.974,-12222.150,12,1.1,29,18.1