version: 66.12
glider: 124
mission: 17
dive: 212
start: 7 21 114 14 25 36
data:
$ID,124
$MISSION,17
$DIVE,212
$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,-309431.69
$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,30
$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
$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
$GPS1,210714,141805,4726.166,-12222.695,11,1.9,27,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-68.4
$GPS2,210714,142430,4726.196,-12222.667,12,1.9,17,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.287,-0.028
$KALMAN_X,-14126.9,-185.7,5.8,12259.1,-177.7
$KALMAN_Y,15507.1,199.3,227.7,-12864.8,297.8
$MHEAD_RNG_PITCHd_Wd,10.5,289,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.75,-161.4,94,1912,1528,1754,0.0,0.0,0,94,0.00,0.00,-70.75,0.000,16386,0.000,0.000,94,1912,2842,2872,2813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-1.77,-180.8,94,1912,2872,2813,3.4,-2.1,7,136,8.50,2.22,-21.42,0.000,18948,0.258,0.066,2021,509,3601,3675,3527,0,0,0,0,0,0,25.25,25.98,26.59
$GC,368,-1.66,-180.8,2021,512,3675,3528,66.8,-24.8,59,374,0.12,2.25,0.00,0.000,3078,0.198,0.044,2050,1934,3601,3675,3528,0,0,0,0,0,0,25.83,26.17,28.83
$GC,564,-1.66,-180.8,2050,1934,3674,3528,103.9,-17.1,79,569,0.00,2.30,0.00,0.000,516,0.000,0.054,2051,507,3600,3673,3528,0,0,0,0,0,0,28.83,26.13,28.83
$GC,588,-1.66,-180.8,2050,507,3673,3528,108.4,-17.9,83,593,0.00,2.22,0.00,0.000,1030,0.000,0.044,2051,1913,3600,3673,3528,0,0,0,0,0,0,28.83,26.22,28.83
$GC,782,-1.66,-180.8,2051,1913,3672,3528,145.2,-20.0,103,787,0.00,2.22,0.00,0.000,260,0.000,0.054,2051,3340,3600,3672,3528,0,0,0,0,0,0,28.83,26.15,28.83
$GC,826,-1.66,-180.8,2050,3340,3671,3528,153.3,-18.5,111,832,0.00,2.28,0.00,0.000,1030,0.000,0.047,2051,1915,3599,3671,3528,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,950,begin apogee
$GC,959,-0.47,0.0,2050,2008,3671,3529,178.3,-20.9,124,1112,0.80,0.00,143.75,0.579,10246,0.143,0.000,2300,2009,2859,2769,2950,0,0,0,0,0,0,25.65,28.83,24.41
$STATE,1113,end apogee,CONTROL_FINISHED_OK
$STATE,1114,begin climb
$GC,1117,1.77,180.8,2299,2009,2766,2949,190.5,0.0,140,1274,1.48,2.35,144.68,0.561,10500,0.090,0.052,2799,3410,2122,1950,2294,0,0,0,0,0,0,25.27,25.15,24.32
$GC,1311,1.77,180.8,2799,3410,1949,2293,172.1,17.7,175,1318,0.00,2.33,0.00,0.000,1030,0.000,0.044,2809,1988,2121,1949,2293,0,0,0,0,0,0,28.83,25.45,28.83
$GC,1498,1.80,204.0,2809,1988,1950,2292,143.2,15.0,194,1524,0.00,2.22,19.48,0.526,8708,0.000,0.053,2819,596,2026,1855,2198,0,0,0,0,0,0,28.83,25.75,24.79
$GC,1558,1.80,207.9,2819,595,1856,2195,133.5,16.4,205,1566,0.00,2.25,3.22,0.356,9222,0.000,0.042,2819,2005,2015,1845,2185,0,0,0,0,0,0,28.83,25.85,24.49
$GC,1745,1.81,212.0,2819,2005,1847,2184,101.0,16.4,224,1757,0.00,2.22,4.93,0.465,8452,0.000,0.050,2819,3413,1997,1830,2165,0,0,0,0,0,0,28.83,25.99,24.60
$GC,1838,1.81,212.0,2819,3413,1834,2164,84.9,18.3,241,1845,0.12,2.28,0.00,0.000,5126,0.166,0.045,2799,1987,1998,1833,2164,0,0,0,0,0,0,25.82,26.05,28.83
$GC,2025,1.96,251.5,2799,1986,1834,2164,56.6,13.8,260,2068,0.12,2.20,34.42,0.513,10756,0.090,0.052,2868,596,1833,1664,2003,0,0,0,0,0,0,26.38,25.88,24.94
$GC,2098,1.96,251.5,2867,594,1668,2003,43.8,19.1,273,2106,0.12,2.25,0.00,0.000,5126,0.148,0.042,2836,2006,1835,1668,2003,0,0,0,0,0,0,25.75,25.96,28.83
$GC,2286,2.06,254.7,2835,2006,1670,2004,10.6,16.4,292,2294,0.10,0.00,1.50,0.064,10246,0.103,0.000,2878,2007,1823,1657,1989,0,0,0,0,0,0,26.32,28.83,25.99
$STATE,2332,end climb,SURFACE_DEPTH_REACHED
$STATE,2332,begin surface coast
$FINISH,0.9,1.021341
$STATE,2344,end surface coast,CONTROL_FINISHED_OK
$STATE,2344,begin surface
$SM_CCo,2365,18.15,0.050,0,0,1638,300.00
$SM_GC,2.40,7.50,0.20,18.15,0.046,0.075,0.050,92,1912,1638,-10.59,0.74,300.00,0,0,0,0,0,0,26.02,26.25,26.09
$IRIDIUM_FIX,4713.38,-12219.23,240921,000455
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.47
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.40
$XPDR_PINGS,7
$SC_FREEKB,3938336
$24V_AH,24.32,14.138
$10V_AH,9.66,8.370
$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,18.875,32.000,351.975,18.150,0.000,0.000,0.000,209.250,3.250,0.000,18.715,618.435,835.755,423.387,666.892,240.901,33.279,946.207,0.000,466.167,0.000,10.509,0.000
$DEVICE_MAMPS,257.805,74.970,579.105,49.725,0.000,0.000,0.000,113.985,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2353.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.218,0.000,0.000,0.000
$MEM,204080
$DATA_FILE_SIZE,10146,298
$CAP_FILE_SIZE,54769,0
$CFSIZE,260034560,243474432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2963.99,0x239dd2,7,5
$CURRENT,0.053,313.8,1
$GPS,210714,150633,4726.535,-12222.584,8,3.2,28,18.1