version: 66.12
glider: 124
mission: 17
dive: 138
start: 7 19 114 3 35 8
data:
$ID,124
$MISSION,17
$DIVE,138
$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,-309227
$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,31
$R_STBD_OVSHOOT,28
$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
$GPS1,190714,032812,4726.151,-12222.587,13,1.0,30,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-67.9
$GPS2,190714,033401,4726.157,-12222.563,13,2.0,13,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.103,0.270
$KALMAN_X,-12103.4,-213.6,140.7,10259.4,147.5
$KALMAN_Y,12597.2,19.3,66.4,-9685.4,-123.9
$MHEAD_RNG_PITCHd_Wd,329.5,345,-26.4,-16.667,-30.00,1390
$D_GRID,177
$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,-161.4,94,1917,1530,1759,0.0,0.0,0,102,0.00,0.00,-79.82,0.000,16386,0.000,0.000,95,1918,2978,3013,2943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.77,-180.8,95,1918,3013,2943,3.5,-2.0,8,141,8.55,2.25,-16.12,0.000,19204,0.260,0.073,2023,506,3600,3668,3533,0,0,0,0,0,0,25.30,25.98,26.55
$GC,370,-1.66,-180.8,2023,506,3669,3534,68.4,-24.4,59,378,0.10,2.25,0.00,0.000,3078,0.207,0.047,2046,1917,3601,3669,3534,0,0,0,0,0,0,25.86,26.13,28.83
$GC,557,-1.66,-180.8,2046,1917,3668,3534,105.7,-19.7,78,562,0.00,2.28,0.00,0.000,516,0.000,0.056,2046,508,3601,3669,3534,0,0,0,0,0,0,28.83,26.09,28.83
$GC,662,-1.66,-180.8,2046,508,3668,3534,126.9,-20.6,98,668,0.00,2.28,0.00,0.000,1030,0.000,0.046,2046,1934,3601,3668,3534,0,0,0,0,0,0,28.83,26.20,28.83
$GC,858,-1.66,-180.8,2046,1944,3668,3535,162.3,-16.0,118,863,0.00,2.17,0.00,0.000,260,0.000,0.056,2046,3326,3601,3668,3534,0,0,0,0,0,0,28.83,26.13,28.83
$GC,937,-1.66,-180.8,2046,3326,3668,3534,176.2,-17.9,132,942,0.00,2.22,0.00,0.000,1030,0.000,0.046,2046,1921,3600,3667,3534,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,948,begin apogee
$GC,957,-0.47,0.0,2046,2010,3668,3535,179.0,-17.5,134,1106,0.82,0.00,142.07,0.582,10246,0.143,0.000,2304,2012,2860,2758,2963,0,0,0,0,0,0,25.64,28.83,24.46
$STATE,1107,end apogee,CONTROL_FINISHED_OK
$STATE,1107,begin climb
$GC,1111,1.77,180.8,2304,2012,2754,2962,187.6,0.0,149,1265,1.45,2.33,144.10,0.559,10500,0.089,0.052,2792,3409,2119,1938,2301,0,0,0,0,0,0,25.25,25.08,24.34
$GC,1322,1.77,180.8,2791,3409,1942,2296,166.3,16.8,188,1327,0.00,2.33,0.00,0.000,1030,0.000,0.046,2801,1998,2119,1942,2296,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1516,1.77,180.8,2800,1998,1944,2292,134.1,17.2,208,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1998,2118,1944,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1696,1.79,198.7,2801,1998,1945,2291,105.8,15.4,226,1715,0.00,0.00,14.90,0.506,8710,0.000,0.000,2801,1998,2049,1876,2222,0,0,0,0,0,0,28.83,28.83,25.06
$GC,1898,1.89,226.0,2801,1999,1876,2217,74.7,14.7,247,1926,0.00,0.00,23.05,0.509,8454,0.000,0.000,2801,1998,1937,1767,2107,0,0,0,0,0,0,28.83,28.83,25.07
$GC,2107,2.00,231.2,2801,1998,1773,2107,40.5,16.3,269,2121,0.12,2.33,6.05,0.447,10756,0.088,0.057,2869,580,1917,1749,2085,0,0,0,0,0,0,26.26,26.02,25.10
$GC,2139,2.00,231.2,2868,580,1750,2084,35.0,16.9,274,2147,0.10,2.28,0.00,0.000,5126,0.160,0.044,2844,2008,1917,1750,2084,0,0,0,0,0,0,25.90,26.08,28.83
$GC,2327,2.13,274.9,2844,2008,1750,2084,6.2,13.5,293,2350,0.10,1.65,17.55,0.051,10755,0.105,0.052,2893,1029,1740,1576,1905,0,0,0,0,0,0,26.37,28.83,26.13
$STATE,2351,end climb,SURFACE_DEPTH_REACHED
$STATE,2351,begin surface coast
$FINISH,1.1,1.021615
$STATE,2357,end surface coast,CONTROL_FINISHED_OK
$STATE,2357,begin surface
$SM_CCo,2379,9.82,0.050,0,0,1638,300.00
$SM_GC,3.13,7.55,1.50,9.82,0.047,0.045,0.050,92,1936,1638,-10.59,-0.57,300.00,0,0,0,0,0,0,26.03,26.14,26.11
$IRIDIUM_FIX,4713.38,-12226.32,210921,132048
$TT8_MAMPS,0.02996,0.02996
$HUMID,65.98
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.40
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,170.4,25.2
$SC_FREEKB,3966752
$24V_AH,24.34,9.484
$10V_AH,9.34,5.666
$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,18.800,26.050,347.725,9.825,0.000,0.000,0.000,184.325,4.000,0.000,14.122,626.453,852.699,406.452,659.639,212.728,33.271,898.695,0.000,453.282,0.000,13.414,0.000
$DEVICE_MAMPS,260.100,73.440,582.165,49.725,0.000,0.000,0.000,115.515,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2365.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.956,0.000,0.000,0.000
$MEM,203648
$DATA_FILE_SIZE,10099,298
$CAP_FILE_SIZE,52987,0
$CFSIZE,260034560,246095872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2604.17,0x239dd2,7,5
$CURRENT,0.025, 98.2,1
$GPS,190714,041615,4726.401,-12222.657,13,2.4,33,18.1