version: 66.12
glider: 124
mission: 17
dive: 156
start: 7 19 114 17 42 40
data:
$ID,124
$MISSION,17
$DIVE,156
$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,-309249.5
$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,27
$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
$GPS1,190714,173521,4726.361,-12222.746,12,2.5,32,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-67.3
$GPS2,190714,174133,4726.366,-12222.784,15,3.2,35,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.283,-0.055
$KALMAN_X,-13092.1,-3.9,359.0,10549.6,65.4
$KALMAN_Y,14727.2,190.6,-169.6,-11365.7,-8.1
$MHEAD_RNG_PITCHd_Wd,72.5,249,-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,-161.4,93,1915,1534,1744,0.0,0.0,0,102,0.00,0.00,-79.78,0.000,16386,0.000,0.000,93,1915,2954,2996,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.77,-180.8,93,1915,2997,2913,3.4,-2.1,8,141,8.52,2.40,-17.55,0.000,18692,0.259,0.070,2023,3326,3602,3675,3529,0,0,0,0,0,0,25.29,25.96,26.57
$GC,266,-1.77,-180.8,2022,3326,3675,3531,42.0,-22.9,38,271,0.00,2.25,0.00,0.000,1030,0.000,0.046,2023,1918,3602,3674,3531,0,0,0,0,0,0,28.83,26.11,28.83
$GC,461,-1.70,-180.8,2025,1919,3676,3531,86.3,-22.9,58,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1919,3604,3675,3533,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,643,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,643,begin apogee
$GC,651,-0.47,0.0,2023,2010,3675,3531,121.8,-20.2,76,802,0.93,0.00,143.38,0.544,10246,0.155,0.000,2303,2010,2859,2774,2944,0,0,0,0,0,0,25.58,28.83,24.50
$STATE,804,end apogee,CONTROL_FINISHED_OK
$STATE,804,begin climb
$GC,807,1.77,180.8,2303,2010,2771,2944,134.5,0.0,92,965,1.48,2.30,146.32,0.525,10500,0.090,0.052,2797,3408,2119,1956,2283,0,0,0,0,0,0,25.26,25.13,24.40
$GC,992,1.77,180.9,2797,3409,1955,2279,117.7,16.7,127,999,0.00,2.33,0.00,0.000,1030,0.000,0.045,2807,2002,2117,1955,2279,0,0,0,0,0,0,28.83,25.39,28.83
$GC,1179,1.77,180.9,2807,2002,1954,2273,86.7,16.9,146,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2002,2114,1956,2273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1359,1.86,205.3,2807,2002,1955,2270,56.4,14.9,164,1386,0.00,0.00,19.95,0.484,8198,0.000,0.000,2807,2002,2021,1862,2181,0,0,0,0,0,0,28.83,28.83,25.03
$GC,1570,2.01,245.8,2807,2002,1862,2177,27.0,13.7,185,1609,0.12,0.00,30.80,0.474,10502,0.088,0.000,2860,2002,1855,1693,2017,0,0,0,0,0,0,26.27,28.83,25.04
$STATE,1726,end climb,SURFACE_DEPTH_REACHED
$STATE,1726,begin surface coast
$FINISH,0.8,1.021712
$STATE,1737,end surface coast,CONTROL_FINISHED_OK
$STATE,1737,begin surface
$SM_CCo,1758,21.30,0.048,0,0,1639,300.00
$SM_GC,1.47,7.50,0.12,21.30,0.047,0.090,0.048,93,1915,1639,-10.58,0.85,300.00,0,0,0,0,0,0,25.94,26.16,26.01
$IRIDIUM_FIX,4707.04,-12222.91,220921,033112
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.51
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,121.8,6.5
$SC_FREEKB,3959840
$24V_AH,24.40,10.637
$10V_AH,9.67,6.298
$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,18.550,9.600,340.450,21.300,0.000,0.000,0.000,184.775,3.250,0.000,35.878,416.679,635.308,402.732,533.640,183.420,33.264,822.235,0.000,328.076,0.000,5.433,0.000
$DEVICE_MAMPS,258.570,90.270,543.915,48.195,0.000,0.000,0.000,113.220,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1744.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,26.148,0.000,0.000,0.000
$MEM,203728
$DATA_FILE_SIZE,6794,203
$CAP_FILE_SIZE,38157,0
$CFSIZE,260034560,245477376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2424.86,0x239dd2,7,5
$CURRENT,0.125,282.4,1
$GPS,190714,181333,4726.397,-12222.581,8,3.4,28,18.1