version: 66.12
glider: 124
mission: 17
dive: 151
start: 7 19 114 14 4 53
data:
$ID,124
$MISSION,17
$DIVE,151
$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,-309243.25
$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,29
$R_STBD_OVSHOOT,26
$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
$GPS1,190714,135807,4726.336,-12222.564,12,1.6,12,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-68.0
$GPS2,190714,140348,4726.337,-12222.593,9,1.6,9,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.223,0.183
$KALMAN_X,-13758.9,-225.5,-222.5,12254.5,123.9
$KALMAN_Y,14638.1,350.4,164.5,-11823.1,-87.5
$MHEAD_RNG_PITCHd_Wd,4.6,12,-26.4,-16.667,-30.00,1390
$D_GRID,188
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.75,-161.4,94,1913,1532,1748,0.0,0.0,0,94,0.00,0.00,-69.70,0.000,16386,0.000,0.000,94,1913,2817,2841,2793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.77,-180.8,94,1914,2841,2794,3.1,-1.7,7,141,8.52,2.40,-23.83,0.000,18692,0.259,0.070,2021,3338,3602,3675,3530,0,0,0,0,0,0,25.28,25.94,26.54
$GC,372,-1.77,-180.8,2021,3337,3674,3532,62.4,-20.2,60,378,0.00,2.28,0.00,0.000,1030,0.000,0.048,2021,1919,3604,3674,3534,0,0,0,0,0,0,28.83,26.13,28.83
$GC,558,-1.77,-180.8,2021,1919,3674,3532,100.6,-19.2,79,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1919,3602,3674,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,738,-1.77,-180.8,2021,1918,3674,3532,136.6,-20.2,97,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1919,3603,3674,3532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,918,-1.77,-180.8,2021,1919,3673,3532,172.5,-19.4,115,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1919,3602,3673,3532,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,924,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,924,begin apogee
$GC,932,-0.47,0.0,2021,2009,3674,3532,173.8,-18.4,116,1083,0.90,0.00,142.95,0.575,10246,0.129,0.000,2307,2009,2860,2776,2944,0,0,0,0,0,0,25.75,28.83,24.43
$STATE,1084,end apogee,CONTROL_FINISHED_OK
$STATE,1084,begin climb
$GC,1088,1.77,180.8,2307,2009,2773,2944,173.8,0.0,131,1241,1.55,0.00,145.62,0.562,10246,0.125,0.000,2790,2009,2122,1951,2294,0,0,0,0,0,0,25.15,28.83,24.33
$FREEZE,173.93,10.729,-1.773,0,1,0
$STATE,1318,end climb,NO_VERTICAL_VELOCITY
$STATE,1318,begin surface
$SM_CCo,1323,300.90,0.525,0,0,648,542.60
$SM_GC,1.68,7.45,0.20,0.00,0.060,0.072,0.000,94,1917,643,-10.59,0.82,544.32,0,0,0,0,0,0,25.97,26.25,28.83
$IRIDIUM_FIX,4707.04,-12211.45,210921,235723
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.71
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,19.60
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,150.9,32.0
$SC_FREEKB,3961760
$24V_AH,24.33,10.350
$10V_AH,9.88,6.129
$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,18.425,5.075,288.575,300.900,0.000,0.000,0.000,180.025,3.750,0.000,10.630,360.100,948.566,641.585,433.877,175.603,33.265,1012.253,0.000,242.064,0.000,13.081,0.000
$DEVICE_MAMPS,258.570,71.910,574.515,524.790,0.000,0.000,0.000,113.220,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1325.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.985,0.000,0.000,0.000
$MEM,203676
$DATA_FILE_SIZE,3479,155
$CAP_FILE_SIZE,36227,0
$CFSIZE,260034560,245649408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2194.64,0x239dd2,7,5
$CURRENT,0.180, 87.9,1
$GPS,190714,144251,4726.457,-12222.155,13,5.7,33,18.1