version: 66.12
glider: 124
mission: 17
dive: 161
start: 7 19 114 21 36 6
data:
$ID,124
$MISSION,17
$DIVE,161
$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,-309255.75
$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,32
$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
$GPS1,190714,212903,4725.538,-12222.056,13,4.1,33,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-64.1
$GPS2,190714,213500,4725.615,-12222.049,11,1.4,16,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,SOUTH
$TGT_LATLONG,4725.430,-12221.933
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.133,-0.256
$KALMAN_X,-13808.9,-11.6,-79.5,12632.1,-46.3
$KALMAN_Y,15254.7,87.0,15.3,-13369.1,26.2
$MHEAD_RNG_PITCHd_Wd,146.5,372,-26.4,-16.667,-30.00,1390
$D_GRID,172
$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,-1.75,-161.4,87,1906,1536,1741,0.0,0.0,0,103,0.00,0.00,-80.28,0.000,16386,0.000,0.000,87,1906,2965,3009,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.77,-180.8,87,1906,3010,2924,3.4,-2.1,8,145,8.55,2.42,-16.70,0.000,18692,0.259,0.070,2021,3337,3601,3672,3531,0,0,0,0,0,0,25.27,25.96,26.56
$GC,159,-1.59,-180.8,2023,3337,3674,3532,14.7,-22.9,16,165,0.17,2.28,0.00,0.000,3078,0.184,0.046,2065,1915,3603,3674,3532,0,0,0,0,0,0,25.63,26.06,28.83
$GC,354,-1.59,-180.8,2065,1916,3673,3533,55.8,-18.2,36,359,0.00,2.30,0.00,0.000,260,0.000,0.054,2065,3339,3603,3673,3533,0,0,0,0,0,0,28.83,26.05,28.83
$GC,392,-1.59,-180.8,2065,3339,3673,3533,62.6,-18.6,43,398,0.00,2.28,0.00,0.000,1030,0.000,0.047,2066,1917,3603,3673,3533,0,0,0,0,0,0,28.83,26.15,28.83
$GC,579,-1.59,-180.8,2065,1917,3673,3533,98.4,-19.3,62,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,1917,3603,3673,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,770,-1.59,-180.8,2066,1917,3673,3533,131.5,-16.7,81,776,0.00,2.28,0.00,0.000,260,0.000,0.054,2066,3337,3602,3672,3533,0,0,0,0,0,0,28.83,26.17,28.83
$GC,849,-1.67,-180.8,2065,3337,3672,3533,144.1,-16.2,95,854,0.00,2.25,0.00,0.000,1030,0.000,0.046,2066,1918,3602,3672,3533,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,1009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1009,begin apogee
$GC,1018,-0.47,0.0,2065,2010,3672,3533,172.9,-17.2,112,1167,0.75,0.00,142.05,0.581,10246,0.142,0.000,2301,2010,2860,2769,2951,0,0,0,0,0,0,25.69,28.83,24.46
$STATE,1169,end apogee,CONTROL_FINISHED_OK
$STATE,1169,begin climb
$GC,1172,1.77,180.8,2301,2010,2766,2950,182.0,0.0,127,1327,1.48,2.38,144.75,0.564,11012,0.092,0.050,2794,3414,2121,1950,2292,0,0,0,0,0,0,25.25,25.10,24.34
$GC,1397,1.77,180.8,2794,3414,1951,2285,158.3,19.0,167,1404,0.00,2.33,0.00,0.000,1030,0.000,0.043,2803,1984,2118,1951,2285,0,0,0,0,0,0,28.83,25.55,28.83
$GC,1584,1.78,185.1,2803,1984,1951,2282,126.7,16.4,186,1593,0.00,2.28,2.60,0.282,8708,0.000,0.054,2812,596,2108,1945,2272,0,0,0,0,0,0,28.83,25.88,24.49
$GC,1612,1.79,199.6,2812,595,1948,2272,122.2,15.6,190,1634,0.00,2.25,14.30,0.514,9222,0.000,0.042,2812,2006,2046,1881,2212,0,0,0,0,0,0,28.83,25.97,24.89
$GC,1823,1.82,219.7,2812,2006,1882,2209,87.5,15.2,213,1850,0.00,2.28,17.88,0.509,8452,0.000,0.053,2813,3409,1964,1799,2129,0,0,0,0,0,0,28.83,25.91,24.99
$GC,1925,1.84,237.4,2812,3409,1801,2127,71.0,15.4,232,1947,0.00,2.25,15.70,0.499,9222,0.000,0.044,2822,2004,1892,1728,2057,0,0,0,0,0,0,28.83,25.98,24.95
$GC,2136,1.93,254.0,2822,2005,1729,2054,36.2,15.4,255,2154,0.00,0.00,15.10,0.487,8198,0.000,0.000,2822,2004,1824,1661,1988,0,0,0,0,0,0,28.83,28.83,25.03
$GC,2337,2.06,265.6,2822,2004,1662,1986,3.4,15.8,275,2343,0.12,0.00,3.72,0.048,10754,0.090,0.000,2880,2005,1784,1626,1942,0,0,0,0,0,0,26.27,28.83,28.83
$STATE,2344,end climb,SURFACE_DEPTH_REACHED
$STATE,2344,begin surface coast
$FINISH,0.9,1.010257
$STATE,2361,end surface coast,CONTROL_FINISHED_OK
$STATE,2361,begin surface
$SM_CCo,2382,14.40,0.048,0,0,1638,300.00
$SM_GC,2.38,7.50,0.12,14.40,0.044,0.092,0.048,85,1915,1638,-10.61,0.93,300.00,0,0,0,0,0,0,26.08,26.29,26.09
$IRIDIUM_FIX,4703.87,-12219.51,220921,071806
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.75
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.50
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,171.2,22.0
$SC_FREEKB,3957920
$24V_AH,24.34,10.951
$10V_AH,9.28,6.485
$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,18.575,27.875,356.100,14.400,0.000,0.000,0.000,187.175,4.750,0.000,16.838,597.731,890.925,428.189,637.425,218.520,33.269,914.119,0.000,432.666,0.000,16.185,0.000
$DEVICE_MAMPS,259.335,91.800,580.635,48.195,0.000,0.000,0.000,114.750,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2371.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.374,0.000,0.000,0.000
$MEM,203712
$DATA_FILE_SIZE,10111,278
$CAP_FILE_SIZE,53236,0
$CFSIZE,260034560,245276672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2844.65,0x239dd2,7,5
$CURRENT,0.080,355.9,1
$GPS,190714,221702,4725.382,-12221.963,13,2.0,13,18.1