version: 66.12
glider: 124
mission: 17
dive: 216
start: 7 21 114 17 30 11
data:
$ID,124
$MISSION,17
$DIVE,216
$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,-309436.69
$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,37
$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
$GPS1,210714,172306,4726.002,-12222.348,35,1.2,35,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-68.5
$GPS2,210714,172906,4725.988,-12222.284,12,1.6,23,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,MOORING
$TGT_LATLONG,4726.343,-12222.589
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.249,-0.162
$KALMAN_X,-14099.2,-211.6,-265.7,13001.4,127.6
$KALMAN_Y,19872.8,1055.6,1018.8,-19225.6,943.8
$MHEAD_RNG_PITCHd_Wd,307.3,759,-25.0,-16.667,-28.75,1541
$D_GRID,167
$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,-180.8,91,1914,1532,1758,0.0,0.0,0,94,0.00,0.00,-70.53,0.000,16386,0.000,0.000,92,1914,2819,2844,2794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-1.69,-180.8,92,1914,2844,2795,3.2,-1.6,7,137,8.57,2.30,-23.52,0.000,18948,0.258,0.067,2037,504,3601,3673,3529,0,0,0,0,0,0,25.25,26.02,26.63
$GC,227,-1.52,-180.8,2037,504,3675,3530,30.3,-25.1,31,234,0.17,2.25,0.00,0.000,3078,0.184,0.044,2081,1913,3602,3675,3530,0,0,0,0,0,0,25.69,26.12,28.83
$GC,423,-1.52,-180.8,2081,1913,3674,3531,68.7,-18.5,51,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,1913,3602,3674,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,603,-1.52,-180.8,2080,1913,3673,3530,100.1,-17.8,69,609,0.00,2.20,0.00,0.000,260,0.000,0.054,2081,3326,3601,3673,3530,0,0,0,0,0,0,28.83,26.13,28.83
$GC,662,-1.52,-180.8,2081,3325,3672,3531,110.0,-17.0,80,668,0.00,2.22,0.00,0.000,1030,0.000,0.045,2082,1921,3601,3672,3531,0,0,0,0,0,0,28.83,26.25,28.83
$GC,852,-1.52,-180.8,2081,1920,3672,3531,141.3,-17.1,99,857,0.00,2.20,0.00,0.000,516,0.000,0.054,2082,504,3601,3672,3531,0,0,0,0,0,0,28.83,26.19,28.83
$GC,890,-1.52,-180.8,2081,505,3671,3531,148.8,-17.3,106,897,0.00,2.22,0.00,0.000,1030,0.000,0.044,2081,1919,3601,3671,3531,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,1003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1003,begin apogee
$GC,1011,-0.47,0.0,2081,2009,3671,3532,167.3,-15.8,118,1166,0.70,0.00,143.00,0.575,10246,0.136,0.000,2303,2010,2858,2766,2951,0,0,0,0,0,0,25.70,28.83,24.45
$STATE,1168,end apogee,CONTROL_FINISHED_OK
$STATE,1168,begin climb
$GC,1171,1.69,180.8,2303,2008,2764,2950,176.2,0.0,134,1329,1.40,2.45,145.43,0.548,10756,0.083,0.054,2786,587,2120,1944,2297,0,0,0,0,0,0,25.32,25.14,24.36
$GC,1381,1.71,203.1,2786,587,1946,2296,155.4,15.2,173,1408,0.00,2.28,18.98,0.524,9222,0.000,0.041,2786,1993,2030,1854,2207,0,0,0,0,0,0,28.83,25.55,24.49
$GC,1588,1.80,222.2,2786,1993,1854,2205,123.2,15.4,196,1607,0.00,0.00,16.42,0.519,8198,0.000,0.000,2786,1993,1954,1780,2129,0,0,0,0,0,0,28.83,28.83,24.79
$GC,1788,1.88,222.2,2786,1993,1787,2128,92.1,16.8,216,1794,0.12,2.25,0.00,0.000,2308,0.085,0.051,2849,3416,1957,1787,2128,0,0,0,0,0,0,26.22,25.95,28.83
$GC,1827,1.80,222.2,2849,3415,1787,2128,85.2,18.7,223,1834,0.22,2.28,0.00,0.000,5126,0.147,0.044,2797,1985,1958,1788,2128,0,0,0,0,0,0,25.70,26.04,28.83
$GC,2014,1.92,249.6,2797,1986,1787,2128,56.6,14.8,242,2046,0.12,2.20,24.67,0.506,10756,0.088,0.051,2867,592,1839,1672,2007,0,0,0,0,0,0,26.38,25.96,25.03
$GC,2087,1.92,249.6,2867,592,1672,2006,44.3,18.5,255,2094,0.15,2.28,0.00,0.000,5126,0.143,0.041,2827,2011,1839,1672,2007,0,0,0,0,0,0,25.78,26.03,28.83
$GC,2274,1.92,249.6,2827,2010,1672,2005,10.0,18.2,274,2279,0.00,2.20,0.00,0.000,260,0.000,0.052,2827,3420,1838,1672,2005,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2293,1.98,250.6,2826,3420,1673,2005,6.7,16.6,277,2301,0.00,2.25,0.00,0.000,1030,0.000,0.044,2835,2007,1838,1673,2004,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,2316,end climb,SURFACE_DEPTH_REACHED
$STATE,2316,begin surface coast
$FINISH,1.0,1.021620
$STATE,2328,end surface coast,CONTROL_FINISHED_OK
$STATE,2328,begin surface
$SM_CCo,2349,19.50,0.050,0,0,1638,300.00
$SM_GC,1.79,7.40,0.12,19.50,0.047,0.093,0.050,91,1915,1638,-10.60,0.93,300.00,0,0,0,0,0,0,26.02,26.35,26.13
$IRIDIUM_FIX,4707.04,-12221.20,240921,031326
$TT8_MAMPS,0.029211,0.029211
$HUMID,65.23
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.40
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,141.3,39.4
$SC_FREEKB,3936800
$24V_AH,24.36,14.377
$10V_AH,9.63,8.513
$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,18.875,31.825,348.500,19.500,0.000,0.000,0.000,179.725,3.750,0.000,24.162,595.664,864.478,424.291,638.631,223.304,33.278,909.165,0.000,437.899,0.000,11.477,0.000
$DEVICE_MAMPS,257.805,92.565,574.515,49.725,0.000,0.000,0.000,117.045,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2336.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.419,0.000,0.000,0.000
$MEM,203708
$DATA_FILE_SIZE,10135,281
$CAP_FILE_SIZE,54141,0
$CFSIZE,260034560,243339264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2780.46,0x239dd2,7,5
$CURRENT,0.113,149.2,1
$GPS,210714,181037,4726.154,-12222.455,11,1.2,11,18.1