version: 66.12
glider: 124
mission: 17
dive: 143
start: 7 19 114 7 26 5
data:
$ID,124
$MISSION,17
$DIVE,143
$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,-309233.25
$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,31
$R_STBD_OVSHOOT,41
$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
$GPS1,190714,071839,4726.510,-12223.002,10,2.2,30,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-61.2
$GPS2,190714,072500,4726.534,-12223.093,13,1.8,18,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,TRANSIT
$TGT_LATLONG,4725.930,-12222.736
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.203,-0.226
$KALMAN_X,-12698.4,-26.3,171.0,9986.9,-374.5
$KALMAN_Y,13568.3,69.1,-71.2,-9878.0,257.6
$MHEAD_RNG_PITCHd_Wd,115.9,1205,-25.0,-16.667,-28.75,1541
$D_GRID,200
$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,17,begin dive
$GC,21,-1.69,-180.8,93,1907,528,755,0.0,0.0,0,154,0.00,0.00,-130.18,0.000,16386,0.000,0.000,93,1907,2880,2913,2848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,158,-1.69,-180.8,93,1908,2915,2850,3.4,-2.1,13,193,8.65,2.40,-19.48,0.000,18692,0.262,0.070,2038,3325,3602,3675,3529,0,0,0,0,0,0,25.32,26.01,26.61
$GC,358,-1.61,-180.8,2037,3325,3676,3532,48.4,-21.7,51,364,0.10,2.25,0.00,0.000,3078,0.185,0.047,2061,1919,3604,3676,3532,0,0,0,0,0,0,25.93,26.15,28.83
$GC,554,-1.61,-180.8,2061,1918,3675,3533,85.9,-19.1,71,559,0.00,2.20,0.00,0.000,516,0.000,0.056,2062,510,3603,3675,3532,0,0,0,0,0,0,28.83,26.13,28.83
$GC,638,-1.61,-180.8,2061,510,3675,3532,102.5,-18.8,87,644,0.00,2.22,0.00,0.000,1030,0.000,0.047,2062,1912,3603,3674,3532,0,0,0,0,0,0,28.83,26.24,28.83
$GC,834,-1.61,-180.8,2061,1913,3674,3533,137.9,-17.8,107,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,1913,3603,3674,3532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1024,-1.61,-180.8,2061,1913,3673,3532,171.4,-16.7,126,1030,0.00,2.22,0.00,0.000,260,0.000,0.057,2061,3330,3602,3673,3531,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1074,-1.61,-180.8,2061,3330,3672,3532,179.3,-15.1,135,1082,0.00,2.25,0.00,0.000,1030,0.000,0.048,2062,1918,3602,3673,3532,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,1188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1188,begin apogee
$GC,1197,-0.47,0.0,2061,2008,3672,3532,200.5,-17.5,147,1352,0.77,0.00,145.18,0.579,10246,0.137,0.000,2307,2008,2856,2769,2944,0,0,0,0,0,0,25.75,28.83,24.47
$STATE,1354,end apogee,CONTROL_FINISHED_OK
$STATE,1354,begin climb
$GC,1357,1.69,180.8,2306,2008,2765,2944,208.7,0.0,163,1513,1.38,2.40,146.15,0.566,10500,0.085,0.053,2774,3414,2119,1962,2276,0,0,0,0,0,0,25.29,25.08,24.34
$GC,1621,1.69,180.8,2774,3414,1959,2263,174.3,19.9,214,1629,0.00,2.33,0.00,0.000,1030,0.000,0.045,2784,1985,2111,1959,2263,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1808,1.71,199.4,2784,1985,1959,2261,144.4,15.4,233,1827,0.00,0.00,14.35,0.515,8198,0.000,0.000,2784,1985,2046,1894,2199,0,0,0,0,0,0,28.83,28.83,24.94
$GC,2008,1.71,201.1,2784,1985,1894,2196,112.0,16.6,253,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1985,2044,1894,2195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2189,1.72,205.1,2784,1985,1894,2194,82.2,16.4,271,2200,0.00,2.20,4.62,0.438,8708,0.000,0.055,2786,595,2025,1877,2174,0,0,0,0,0,0,28.83,26.10,24.87
$GC,2215,1.74,227.0,2786,595,1880,2174,78.1,15.2,275,2241,0.00,2.25,20.30,0.507,9222,0.000,0.045,2786,2010,1933,1781,2086,0,0,0,0,0,0,28.83,26.15,25.08
$GC,2432,1.89,261.2,2786,2011,1781,2084,42.5,14.4,299,2463,0.12,0.00,28.38,0.496,10246,0.084,0.000,2843,2010,1796,1642,1950,0,0,0,0,0,0,26.32,28.83,25.06
$GC,2642,1.90,272.0,2842,2010,1645,1949,5.0,15.9,320,2650,0.00,0.00,4.57,0.052,8198,0.000,0.000,2843,2010,1751,1601,1902,0,0,0,0,0,0,28.83,28.83,26.04
$STATE,2658,end climb,SURFACE_DEPTH_REACHED
$STATE,2659,begin surface coast
$FINISH,0.9,1.021666
$STATE,2670,end surface coast,CONTROL_FINISHED_OK
$STATE,2670,begin surface
$SM_CCo,2691,11.10,0.049,0,0,1638,300.00
$SM_GC,2.95,7.45,0.20,11.10,0.048,0.072,0.049,91,1916,1638,-10.60,0.85,300.00,0,0,0,0,0,0,25.98,26.20,26.06
$IRIDIUM_FIX,4707.04,-12222.91,210921,170836
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.83
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,191.7,35.9
$SC_FREEKB,3964832
$24V_AH,24.34,9.816
$10V_AH,9.65,5.838
$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,18.475,23.225,363.550,11.100,0.000,0.000,0.000,216.125,3.750,0.000,19.609,673.467,1012.533,469.733,712.717,233.747,33.273,1015.327,0.000,501.042,0.000,16.608,0.000
$DEVICE_MAMPS,262.395,116.280,579.105,48.960,0.000,0.000,0.000,110.160,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2675.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.889,0.000,0.000,0.000
$MEM,204056
$DATA_FILE_SIZE,10104,323
$CAP_FILE_SIZE,56737,0
$CFSIZE,260034560,245919744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.185,300.0,1
$GPS,190714,081227,4726.391,-12222.999,15,5.2,35,18.1