version: 66.12
glider: 124
mission: 17
dive: 136
start: 7 19 114 2 2 42
data:
$ID,124
$MISSION,17
$DIVE,136
$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,-309224.5
$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,28
$R_STBD_OVSHOOT,29
$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
$GPS1,190714,015527,4726.280,-12222.565,12,4.5,32,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-68.0
$GPS2,190714,020135,4726.297,-12222.565,27,1.6,27,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.155,0.244
$KALMAN_X,-12269.1,-280.5,5.5,10625.5,94.7
$KALMAN_Y,12695.7,60.0,186.1,-9683.7,-112.4
$MHEAD_RNG_PITCHd_Wd,318.6,89,-26.4,-16.667,-30.00,1390
$D_GRID,183
$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,-1.75,-161.4,96,1913,1529,1749,0.0,0.0,0,102,0.00,0.00,-79.62,0.000,16386,0.000,0.000,97,1913,2991,3028,2955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.77,-180.8,96,1913,3028,2957,3.7,-2.7,8,140,8.60,2.25,-15.15,0.000,18948,0.263,0.071,2020,508,3602,3670,3535,0,0,0,0,0,0,25.28,25.98,26.55
$GC,370,-1.65,-180.8,2019,508,3671,3535,67.3,-24.0,59,377,0.12,2.25,0.00,0.000,3078,0.206,0.046,2048,1919,3602,3670,3535,0,0,0,0,0,0,25.78,26.13,28.83
$GC,557,-1.65,-180.8,2048,1919,3670,3535,104.5,-18.9,78,562,0.00,2.28,0.00,0.000,516,0.000,0.056,2048,509,3602,3670,3535,0,0,0,0,0,0,28.83,26.11,28.83
$GC,647,-1.65,-180.8,2048,508,3669,3535,123.6,-22.7,95,654,0.00,2.25,0.00,0.000,1030,0.000,0.047,2049,1930,3602,3669,3535,0,0,0,0,0,0,28.83,26.20,28.83
$GC,834,-1.65,-180.8,2048,1930,3669,3535,160.0,-18.4,114,839,0.00,2.20,0.00,0.000,260,0.000,0.057,2048,3328,3602,3669,3535,0,0,0,0,0,0,28.83,26.13,28.83
$GC,940,-1.65,-180.8,2048,3328,3669,3536,178.3,-17.0,134,945,0.00,2.25,0.00,0.000,1030,0.000,0.047,2048,1916,3602,3669,3535,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,971,begin apogee
$GC,980,-0.47,0.0,2048,2008,3668,3535,184.4,-17.4,138,1135,0.82,0.00,143.98,0.588,10246,0.141,0.000,2306,2007,2859,2756,2962,0,0,0,0,0,0,25.67,28.83,24.45
$STATE,1137,end apogee,CONTROL_FINISHED_OK
$STATE,1137,begin climb
$GC,1141,1.77,180.8,2306,2008,2754,2962,193.7,0.0,154,1297,1.45,2.38,143.70,0.567,10500,0.089,0.054,2793,3409,2121,1940,2302,0,0,0,0,0,0,25.26,25.08,24.34
$GC,1325,1.77,180.8,2793,3409,1942,2299,176.4,16.7,189,1332,0.00,2.35,0.00,0.000,1030,0.000,0.046,2803,1985,2121,1943,2299,0,0,0,0,0,0,28.83,25.37,28.83
$GC,1511,1.81,211.8,2803,1985,1946,2294,148.3,14.4,208,1545,0.00,2.42,25.55,0.536,8452,0.000,0.054,2803,3410,1995,1821,2169,0,0,0,0,0,0,28.83,25.64,24.79
$GC,1609,1.81,211.8,2802,3410,1824,2166,130.0,21.4,225,1617,0.00,2.30,0.00,0.000,1030,0.000,0.046,2812,1988,1994,1825,2163,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1797,1.82,223.7,2812,1988,1824,2162,100.1,15.8,244,1813,0.00,2.22,10.75,0.495,8708,0.000,0.057,2823,594,1946,1777,2115,0,0,0,0,0,0,28.83,25.92,25.01
$GC,1878,1.82,223.7,2823,594,1781,2114,84.5,20.4,259,1885,0.00,2.25,0.00,0.000,1030,0.000,0.044,2823,2005,1947,1781,2114,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2065,1.89,223.7,2823,2005,1783,2114,53.8,17.3,278,2070,0.00,2.20,0.00,0.000,260,0.000,0.054,2823,3409,1948,1782,2114,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2109,1.89,223.7,2825,3409,1782,2114,45.7,19.1,286,2115,0.00,2.25,0.00,0.000,1030,0.000,0.046,2833,2001,1948,1782,2114,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2305,1.99,243.8,2833,2001,1783,2114,14.0,15.2,306,2320,0.00,2.28,8.32,0.070,8708,0.000,0.057,2844,594,1867,1700,2035,0,0,0,0,0,0,28.83,26.10,26.06
$GC,2359,2.07,251.2,2844,594,1705,2035,5.2,16.1,316,2372,0.00,2.22,3.47,0.053,9222,0.000,0.044,2844,2004,1835,1671,2000,0,0,0,0,0,0,28.83,26.21,26.18
$STATE,2376,end climb,SURFACE_DEPTH_REACHED
$STATE,2377,begin surface coast
$FINISH,0.8,1.021514
$STATE,2388,end surface coast,CONTROL_FINISHED_OK
$STATE,2388,begin surface
$SM_CCo,2409,19.35,0.050,0,0,1639,300.00
$SM_GC,2.06,7.40,0.20,19.35,0.048,0.070,0.050,95,1911,1639,-10.58,0.65,300.00,0,0,0,0,0,0,26.09,26.37,26.18
$IRIDIUM_FIX,4707.04,-12222.91,210921,114511
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.43
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,19.40
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,170.4,37.4
$SC_FREEKB,3967520
$24V_AH,24.34,9.365
$10V_AH,9.67,5.595
$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,18.400,36.750,335.775,19.350,0.000,0.000,0.000,187.675,4.750,0.000,27.991,661.978,799.826,423.938,709.075,220.954,33.273,940.402,0.000,489.987,0.000,13.448,0.000
$DEVICE_MAMPS,263.160,71.145,588.285,50.490,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2397.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.947,0.000,0.000,0.000
$MEM,203692
$DATA_FILE_SIZE,10113,320
$CAP_FILE_SIZE,56172,0
$CFSIZE,260034560,246161408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2820.93,0x239dd2,7,5
$CURRENT,0.066,132.3,1
$GPS,190714,024435,4726.497,-12222.677,38,1.2,38,18.1