version: 66.12
glider: 124
mission: 16
dive: 4
start: 7 3 114 20 19 34
data:
$ID,124
$MISSION,16
$DIVE,4
$N_DIVES,5
$D_SURF,3
$D_FLARE,3
$D_TGT,165
$D_ABORT,185
$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,55
$T_MISSION,72
$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,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51915
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,40
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,2.53e-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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,-307308.97
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3900
$C_PITCH,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,18
$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,1950
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,4045
$C_VBD,3050
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0020000001
$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,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,030714,201601,4726.422,-12223.266,12,1.8,12,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-64.5
$GPS2,030714,201849,4726.444,-12223.301,16,1.8,16,18.1
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,mooring
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.270,-0.097
$KALMAN_X,-522.1,-343.2,-287.0,615.5,-291.8
$KALMAN_Y,337.4,295.4,294.5,-857.1,184.0
$MHEAD_RNG_PITCHd_Wd,91.6,911,-15.2,-10.000,-19.22,2879
$D_GRID,210
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.23,-195.5,97,1948,1331,1515,0.0,0.0,0,122,0.00,0.00,-100.90,0.000,16386,0.000,0.000,95,1949,3200,3236,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-1.23,-195.5,96,1949,3237,3165,3.4,-2.8,10,160,8.73,2.33,-18.35,0.000,18692,0.256,0.071,2104,3348,3849,3875,3823,0,0,0,0,0,0,25.54,26.08,26.69
$GC,251,-1.23,-195.5,2105,3348,3875,3825,18.5,-11.0,35,258,0.00,2.22,0.00,0.000,1030,0.000,0.046,2105,1945,3849,3874,3825,0,0,0,0,0,0,28.83,26.13,28.83
$GC,437,-1.17,-195.5,2105,1945,3873,3825,40.8,-12.6,54,442,0.00,2.20,0.00,0.000,516,0.000,0.057,2105,539,3848,3872,3824,0,0,0,0,0,0,28.83,26.01,28.83
$GC,493,-1.17,-195.5,2105,539,3872,3825,48.5,-12.8,65,499,0.00,2.22,0.00,0.000,1030,0.000,0.046,2104,1955,3848,3871,3825,0,0,0,0,0,0,28.83,26.14,28.83
$GC,678,-1.17,-195.5,2106,1956,3870,3825,70.7,-11.8,84,683,0.00,2.28,0.00,0.000,516,0.000,0.057,2105,546,3846,3869,3824,0,0,0,0,0,0,28.83,26.00,28.83
$GC,705,-1.10,-195.5,2105,547,3869,3824,73.7,-12.9,89,712,0.12,2.22,0.00,0.000,3078,0.153,0.047,2139,1957,3846,3868,3825,0,0,0,0,0,0,25.99,26.19,28.83
$GC,889,-1.10,-195.5,2140,1958,3867,3825,92.0,-9.8,108,895,0.00,2.20,0.00,0.000,260,0.000,0.059,2139,3357,3845,3866,3824,0,0,0,0,0,0,28.83,25.98,28.83
$GC,926,-1.17,-195.5,2139,3357,3867,3825,95.3,-9.0,115,932,0.00,2.22,0.00,0.000,1030,0.000,0.047,2139,1955,3844,3865,3824,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1111,-1.17,-195.5,2139,1955,3864,3825,112.7,-9.8,134,1116,0.00,2.25,0.00,0.000,516,0.000,0.058,2139,529,3844,3864,3824,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1162,-1.17,-195.5,2139,529,3865,3825,118.1,-10.5,144,1167,0.00,2.25,0.00,0.000,1030,0.000,0.047,2139,1956,3844,3863,3825,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1353,-1.17,-195.5,2139,1957,3863,3825,137.8,-10.7,164,1358,0.00,2.20,0.00,0.000,260,0.000,0.059,2139,3353,3843,3862,3824,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1385,-1.25,-195.5,2139,3354,3861,3825,140.9,-9.8,170,1391,0.12,2.25,0.00,0.000,5126,0.098,0.047,2091,1939,3843,3861,3825,0,0,0,0,0,0,26.18,26.20,28.83
$GC,1577,-1.25,-195.5,2092,1939,3861,3825,164.4,-12.0,190,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1939,3842,3860,3825,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1584,begin apogee
$GC,1592,-0.28,0.0,2091,2005,3861,3825,165.5,-11.6,191,1753,0.68,0.00,154.93,0.573,10246,0.109,0.000,2317,2005,3048,2949,3147,0,0,0,0,0,0,25.86,28.83,24.52
$STATE,1754,end apogee,CONTROL_FINISHED_OK
$STATE,1754,begin climb
$GC,1757,1.23,195.5,2318,2005,2943,3143,171.5,0.0,207,1921,0.93,2.42,154.48,0.551,10756,0.064,0.056,2661,585,2246,2096,2396,0,0,0,0,0,0,25.32,25.08,24.37
$GC,1953,1.10,200.8,2662,586,2097,2390,160.5,9.8,238,1960,0.15,2.33,1.15,0.051,13318,0.125,0.046,2620,2002,2231,2085,2377,0,0,0,0,0,0,25.26,25.39,25.34
$GC,2147,1.04,214.4,2621,2003,2094,2377,143.2,9.5,258,2167,0.00,0.00,14.35,0.533,8454,0.000,0.000,2620,2002,2169,2030,2309,0,0,0,0,0,0,28.83,28.83,24.94
$GC,2347,0.97,214.4,2620,2002,2029,2307,122.8,11.9,280,2352,0.12,2.25,0.00,0.000,4356,0.135,0.054,2578,3414,2167,2028,2307,0,0,0,0,0,0,25.99,25.86,28.83
$GC,2383,1.02,238.8,2578,3414,2030,2306,119.2,9.1,287,2410,0.00,2.28,19.65,0.552,9222,0.000,0.047,2580,2001,2072,1929,2216,0,0,0,0,0,0,28.83,25.95,25.06
$GC,2589,1.02,238.8,2581,2002,1929,2213,101.5,10.7,310,2594,0.00,2.25,0.00,0.000,516,0.000,0.062,2580,595,2070,1928,2213,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2620,1.02,238.8,2581,596,1929,2213,97.9,11.3,316,2625,0.00,2.25,0.00,0.000,1030,0.000,0.047,2581,2004,2070,1928,2213,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2812,1.05,257.6,2582,2005,1929,2212,79.3,9.3,336,2834,0.10,2.30,15.75,0.539,10500,0.104,0.057,2632,3410,1995,1853,2138,0,0,0,0,0,0,26.41,26.04,25.24
$GC,2860,0.97,257.6,2632,3410,1855,2136,73.6,13.4,345,2867,0.17,2.28,0.00,0.000,5126,0.135,0.050,2582,1993,1995,1854,2136,0,0,0,0,0,0,25.89,26.04,28.83
$GC,3045,1.15,311.5,2583,1993,1854,2136,56.6,8.1,364,3097,0.12,2.35,44.88,0.545,10756,0.088,0.061,2650,584,1776,1633,1919,0,0,0,0,0,0,26.36,25.72,25.04
$GC,3174,1.15,311.5,2651,584,1637,1918,42.2,12.1,389,3180,0.10,2.28,0.00,0.000,5126,0.135,0.047,2623,2002,1777,1636,1918,0,0,0,0,0,0,25.77,25.87,28.83
$GC,3359,1.15,311.5,2624,2003,1642,1918,22.2,10.8,408,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2003,1778,1640,1917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3539,1.24,324.9,2624,2004,1642,1918,4.5,9.5,426,3551,0.10,2.33,5.47,0.050,10756,0.103,0.057,2676,581,1725,1589,1862,0,0,0,0,0,0,26.41,25.97,26.07
$STATE,3554,end climb,SURFACE_DEPTH_REACHED
$STATE,3554,begin surface coast
$FINISH,1.1,1.020415
$STATE,3574,end surface coast,CONTROL_FINISHED_OK
$STATE,3577,begin surface
$SM_CCo,3597,30.23,0.048,0,0,1418,400.08
$SM_GC,2.12,6.97,2.25,30.23,0.047,0.046,0.048,90,1959,1418,-10.47,-0.74,400.08,0,0,0,0,0,0,25.98,26.09,26.10
$IRIDIUM_FIX,4710.21,-12220.22,060921,064519
$TT8_MAMPS,0.053179,0.053179
$HUMID,71.18
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,19.60
$XPDR_PINGS,45
$ALTIM_BOTTOM_PING,140.4,59.5
$SC_FREEKB,4018208
$24V_AH,24.37,0.835
$10V_AH,9.78,0.646
$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,18.425,54.550,410.650,30.225,0.000,0.000,0.000,0.000,12.750,0.000,17.430,0.000,2090.811,600.845,797.036,199.509,32.506,939.651,0.000,656.646,0.000,14.108,0.000
$DEVICE_MAMPS,256.275,83.385,572.985,48.195,0.000,0.000,0.000,0.000,420.000,0.000,32.960,0.000,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3559.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.978,0.000,0.000,0.000
$MEM,204400
$DATA_FILE_SIZE,13457,433
$CAP_FILE_SIZE,95007,0
$CFSIZE,260034560,250753024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3735.43,0x239dd2,7,5
$GPS,030714,212103,4726.662,-12222.688,12,2.7,32,18.1