version: 66.12
glider: 124
mission: 17
dive: 77
start: 7 17 114 3 4 54
data:
$ID,124
$MISSION,17
$DIVE,77
$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,-307949.44
$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,30
$R_STBD_OVSHOOT,31
$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
$GPS1,170714,025749,4726.542,-12222.552,40,2.2,60,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-68.4
$GPS2,170714,030349,4726.543,-12222.546,13,1.6,13,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.016,-0.303
$KALMAN_X,-9043.6,-69.7,-43.3,7264.1,-88.2
$KALMAN_Y,8385.8,-77.8,-259.9,-4339.5,-36.2
$MHEAD_RNG_PITCHd_Wd,155.3,1160,-25.0,-16.667,-28.75,1541
$D_GRID,138
$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,-180.8,91,1917,1538,1743,0.0,0.0,0,103,0.00,0.00,-80.43,0.000,16386,0.000,0.000,91,1917,2973,3005,2941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.69,-180.8,91,1917,3005,2941,3.4,-1.9,8,142,8.62,2.40,-17.35,0.000,18692,0.261,0.071,2038,3329,3600,3664,3537,0,0,0,0,0,0,25.33,25.95,26.54
$GC,361,-1.69,-180.8,2038,3329,3664,3538,56.1,-19.5,57,369,0.00,2.28,0.00,0.000,1030,0.000,0.047,2038,1914,3601,3664,3539,0,0,0,0,0,0,28.83,26.10,28.83
$GC,547,-1.69,-180.8,2038,1914,3664,3539,94.6,-21.1,76,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,1914,3602,3667,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,728,-1.69,-180.8,2038,1913,3664,3539,129.9,-18.5,94,738,0.00,2.20,0.00,0.000,516,0.000,0.057,2038,508,3601,3664,3539,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,768,begin apogee
$GC,778,-0.47,0.0,2038,2004,3662,3539,138.8,-21.2,101,932,0.88,0.00,141.70,0.551,10246,0.148,0.000,2303,2005,2858,2755,2962,0,0,0,0,0,0,25.57,28.83,24.53
$STATE,933,end apogee,CONTROL_FINISHED_OK
$STATE,933,begin climb
$GC,937,1.69,180.8,2303,2005,2753,2961,146.9,0.0,117,1095,1.42,2.33,145.75,0.531,10500,0.092,0.054,2778,3411,2120,1946,2295,0,0,0,0,0,0,25.27,25.07,24.41
$GC,1133,1.69,180.8,2778,3411,1944,2290,126.8,17.0,143,1140,0.00,2.35,0.00,0.000,1030,0.000,0.047,2788,1986,2117,1944,2290,0,0,0,0,0,0,28.83,25.39,28.83
$GC,1319,1.72,209.7,2788,1986,1944,2283,97.5,14.8,162,1351,0.00,2.30,23.25,0.500,8708,0.000,0.057,2798,595,2004,1834,2174,0,0,0,0,0,0,28.83,25.65,24.88
$GC,1397,1.72,209.7,2797,595,1834,2176,85.6,17.1,176,1403,0.00,2.30,0.00,0.000,1030,0.000,0.044,2798,2008,2003,1834,2173,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1592,1.75,231.7,2798,2008,1835,2170,53.9,15.2,196,1618,0.00,2.35,19.27,0.487,8708,0.000,0.057,2805,587,1914,1748,2081,0,0,0,0,0,0,28.83,25.84,25.07
$GC,1647,1.78,262.4,2805,587,1748,2081,45.8,14.6,206,1679,0.00,2.28,26.38,0.487,9222,0.000,0.045,2805,2004,1789,1623,1955,0,0,0,0,0,0,28.83,25.91,24.94
$GC,1858,1.80,278.5,2805,2004,1625,1950,13.6,15.6,230,1871,0.00,2.33,6.43,0.070,8452,0.000,0.055,2804,3417,1726,1568,1885,0,0,0,0,0,0,28.83,25.88,25.85
$STATE,1915,end climb,SURFACE_DEPTH_REACHED
$STATE,1916,begin surface coast
$FINISH,1.1,1.021640
$STATE,1926,end surface coast,CONTROL_FINISHED_OK
$STATE,1926,begin surface
$SM_CCo,1949,8.75,0.049,0,0,1639,300.00
$SM_GC,3.08,7.38,2.47,8.75,0.050,0.047,0.049,95,1922,1639,-10.58,0.88,300.00,0,0,0,0,0,0,25.91,25.98,26.00
$IRIDIUM_FIX,4710.21,-12224.61,190921,124519
$TT8_MAMPS,0.029211,0.029211
$HUMID,65.86
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,19.30
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,131.2,31.9
$SC_FREEKB,3990176
$24V_AH,24.41,5.694
$10V_AH,9.65,3.438
$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,18.300,28.100,362.775,8.750,0.000,0.000,0.000,197.475,3.250,0.000,14.041,498.571,624.099,439.133,565.382,208.681,33.277,897.600,0.000,377.129,0.000,7.080,0.000
$DEVICE_MAMPS,260.865,136.170,550.800,48.960,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1934.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.868,0.000,0.000,0.000
$MEM,204040
$DATA_FILE_SIZE,6790,242
$CAP_FILE_SIZE,44535,0
$CFSIZE,260034560,248274944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145,271.6,1
$GPS,170714,033848,4726.286,-12222.756,13,1.3,30,18.1