version: 66.12
glider: 124
mission: 17
dive: 230
start: 7 22 114 8 48 56
data:
$ID,124
$MISSION,17
$DIVE,230
$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,4
$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,-310291.09
$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,63
$R_STBD_OVSHOOT,30
$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
$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,48
$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
$GPS1,220714,084203,4726.357,-12222.968,12,2.5,32,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-69.1
$GPS2,220714,084749,4726.320,-12222.991,12,1.9,12,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,600.000
$KALMAN_CONTROL,0.255,0.135
$KALMAN_X,-14815.9,-203.4,110.4,12461.3,-37.1
$KALMAN_Y,19521.3,-592.5,446.5,-16070.9,-248.5
$MHEAD_RNG_PITCHd_Wd,61.3,506,-26.4,-16.667,-30.00,1390
$D_GRID,194
$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,18,begin dive
$GC,21,-1.75,-161.4,96,1910,1537,1743,0.0,0.0,0,94,0.00,0.00,-70.00,0.000,16386,0.000,0.000,96,1910,2843,2872,2814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-1.77,-180.8,96,1910,2872,2816,3.4,-2.2,7,136,8.43,2.17,-21.20,0.000,18948,0.255,0.066,2021,533,3602,3675,3530,0,0,0,0,0,0,25.24,26.01,26.62
$GC,191,-1.59,-180.8,2021,533,3676,3531,23.9,-27.7,24,198,0.17,2.22,0.00,0.000,3078,0.196,0.045,2064,1933,3603,3676,3531,0,0,0,0,0,0,25.63,26.09,28.83
$GC,377,-1.59,-180.8,2063,1934,3675,3531,66.2,-22.7,43,382,0.00,2.25,0.00,0.000,516,0.000,0.054,2064,544,3603,3675,3531,0,0,0,0,0,0,28.83,26.10,28.83
$GC,425,-1.59,-180.8,2064,544,3675,3531,76.5,-20.7,52,432,0.00,2.17,0.00,0.000,1030,0.000,0.044,2064,1917,3603,3675,3531,0,0,0,0,0,0,28.83,26.20,28.83
$GC,611,-1.59,-180.8,2064,1917,3674,3531,111.9,-19.1,71,616,0.00,2.20,0.00,0.000,260,0.000,0.054,2064,3332,3602,3674,3531,0,0,0,0,0,0,28.83,26.15,28.83
$GC,680,-1.59,-180.8,2064,3332,3673,3531,124.9,-17.8,84,687,0.00,2.20,0.00,0.000,1030,0.000,0.045,2064,1939,3602,3673,3531,0,0,0,0,0,0,28.83,26.27,28.83
$GC,865,-1.59,-180.8,2064,1939,3673,3531,157.8,-17.9,103,871,0.00,2.25,0.00,0.000,260,0.000,0.054,2064,3341,3602,3673,3531,0,0,0,0,0,0,28.83,26.17,28.83
$GC,909,-1.59,-180.8,2064,3341,3672,3531,165.6,-18.7,111,915,0.00,2.25,0.00,0.000,1030,0.000,0.046,2064,1918,3601,3672,3531,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1104,-1.97,-180.8,2064,1918,3670,3533,189.3,-0.1,131,1110,0.22,2.20,0.00,0.000,4612,0.071,0.052,1969,506,3601,3670,3533,0,0,0,0,0,0,26.53,26.24,28.83
$STATE,1201,end dive,NO_VERTICAL_VELOCITY
$STATE,1202,begin apogee
$GC,1211,-0.47,0.0,1969,2010,3669,3534,189.3,0.0,150,1366,0.93,0.00,141.85,0.584,10246,0.057,0.000,2320,2011,2858,2764,2952,0,0,0,0,0,0,26.32,28.83,24.45
$STATE,1367,end apogee,CONTROL_FINISHED_OK
$STATE,1367,begin climb
$GC,1371,1.77,180.8,2321,2011,2764,2952,189.3,0.0,166,1525,1.35,2.30,143.12,0.558,10500,0.064,0.051,2803,3411,2119,1943,2296,0,0,0,0,0,0,25.39,25.17,24.34
$GC,1655,2.22,321.3,2803,3411,1945,2291,178.8,6.3,221,1784,0.25,2.30,113.95,0.543,11270,0.061,0.044,2911,1985,1548,1376,1720,0,0,0,0,0,0,25.81,25.76,24.39
$GC,1963,2.22,321.3,2911,1985,1378,1720,118.5,21.3,264,1969,0.00,2.20,0.00,0.000,516,0.000,0.054,2922,595,1549,1378,1720,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2022,2.16,321.3,2922,594,1378,1719,104.7,23.5,275,2030,0.17,2.25,0.00,0.000,5126,0.149,0.042,2875,2007,1549,1379,1720,0,0,0,0,0,0,25.67,25.98,28.83
$GC,2210,2.22,321.3,2874,2007,1378,1718,67.6,18.9,294,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2007,1549,1379,1719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2399,2.32,321.3,2874,2007,1378,1720,33.2,17.5,313,2406,0.12,2.28,0.00,0.000,2564,0.093,0.052,2942,597,1548,1379,1718,0,0,0,0,0,0,26.41,26.13,28.83
$GC,2445,2.32,321.3,2942,597,1379,1718,24.1,23.1,321,2452,0.12,2.22,0.00,0.000,5126,0.157,0.043,2911,2006,1548,1379,1718,0,0,0,0,0,0,25.98,26.23,28.83
$STATE,2547,end climb,SURFACE_DEPTH_REACHED
$STATE,2550,begin surface coast
$FINISH,0.9,1.021238
$STATE,2558,end surface coast,CONTROL_FINISHED_OK
$STATE,2559,begin surface
$SM_CCo,2639,0.00,0.000,0,0,1547,322.57
$SM_GC,1.77,7.55,0.17,0.00,0.047,0.074,0.000,97,1930,1547,-10.58,1.16,322.57,0,0,0,0,0,0,26.10,26.45,28.83
$IRIDIUM_FIX,4710.21,-12220.22,240921,183239
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.94
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,140.0,59.8
$SC_FREEKB,3931424
$24V_AH,24.34,15.429
$10V_AH,9.63,9.191
$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,19.325,36.075,398.925,0.000,0.000,0.000,0.000,176.075,3.500,0.000,12.798,664.623,968.105,440.135,704.968,222.129,33.264,969.623,0.000,514.263,0.000,8.750,0.000
$DEVICE_MAMPS,254.745,74.205,583.695,0.000,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2569.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.222,0.000,0.000,0.000
$MEM,203724
$DATA_FILE_SIZE,10146,333
$CAP_FILE_SIZE,56865,0
$CFSIZE,260034560,242810880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2741.21,0x239dd2,7,5
$CURRENT,0.025,298.7,1
$GPS,220714,093409,4726.402,-12222.546,12,2.3,32,18.1