version: 66.12
glider: 99
mission: 78
dive: 109
start: 1 3 114 15 33 30
data:
$ID,99
$MISSION,78
$DIVE,109
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,4
$D_SAFE,100
$D_CALL,2
$SURFACE_URGENCY,1
$SURFACE_URGENCY_TRY,20
$SURFACE_URGENCY_FORCE,20
$T_DIVE,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.02764
$MASS,51779
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-05
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,4
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1250023.1
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,1720
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,10
$PITCH_MAXERRORS,10
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,500
$ROLL_MAX,3500
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,0
$R_STBD_OVSHOOT,1
$ROLL_AD_RATE,10
$ROLL_MAXERRORS,10
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,3126
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,250
$VBD_MAXERRORS,10
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,10
$AH0_24V,300
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-0.21879998
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,50
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,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,1
$COMPASS2_DEVICE,149
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,030114,152804,4807.068,-12222.863,32,2.0,37,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,030114,153226,4807.044,-12222.844,13,1.6,20,18.0
$SPEED_LIMITS,0.060,0.169
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.083,-0.022
$KALMAN_X,14612.9,-43.1,-60.6,-13586.7,60.3
$KALMAN_Y,-4563.5,239.1,40.5,3038.1,-13.3
$MHEAD_RNG_PITCHd_Wd,237.1,209,-31.4,-6.000,-34.81,778
$D_GRID,100
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-2.00,-31.1,311,2069,1670,1736,0.0,0.0,0,71,0.00,0.32,-51.88,0.000,16390,0.000,0.000,311,1907,3254,3184,3325,0,0,0,0,0,0,28.83,24.18,24.19
$GC,78,-2.06,-76.4,312,1910,3174,3326,0.0,-0.0,5,95,4.95,2.90,-6.20,0.000,18692,0.000,0.000,1294,3461,3433,3361,3505,0,0,0,0,0,0,24.18,24.17,24.19
$GC,101,-2.10,-110.8,1292,3461,3372,3515,0.7,-1.4,8,111,0.28,2.78,-4.53,0.000,21510,0.000,0.000,1229,1993,3566,3496,3637,0,0,0,0,0,0,24.17,24.18,24.19
$GC,414,-2.10,-110.9,1234,1996,3494,3634,24.9,-6.0,39,420,0.30,0.00,-0.10,0.000,18438,0.000,0.000,1296,2000,3575,3497,3654,0,0,0,0,0,0,24.17,28.83,24.19
$GC,728,-2.11,-115.3,1296,1990,3504,3635,43.5,-5.4,70,730,0.32,0.00,-0.52,0.000,20486,0.000,0.000,1255,1997,3585,3512,3658,0,0,0,0,0,0,24.17,28.83,24.19
$GC,1039,-2.11,-115.3,1256,1987,3519,3662,63.2,-7.1,91,1041,0.00,0.00,-0.38,0.000,16390,0.000,0.000,1256,1990,3596,3532,3660,0,0,0,0,0,0,28.83,28.83,24.19
$GC,1339,-2.11,-115.3,1256,1990,3527,3685,82.5,-6.5,106,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,1258,1993,3603,3517,3690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1638,-2.14,-146.0,1259,1999,3521,3664,75.2,10.7,121,1643,0.00,0.00,-3.62,0.000,16390,0.000,0.000,1259,1991,3698,3629,3768,0,0,0,0,0,0,28.83,28.83,24.19
$GC,1942,-2.14,-146.0,1259,1991,3635,3774,42.9,10.5,139,1947,0.00,0.00,-0.30,0.000,16390,0.000,0.000,1255,1994,3709,3642,3776,0,0,0,0,0,0,28.83,28.83,24.18
$STATE,1958,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1958,begin apogee
$GC,1966,-0.31,0.0,1255,2027,3627,3793,40.7,10.7,141,2089,1.95,0.20,117.18,0.001,10246,0.000,0.000,1647,1937,3132,3073,3192,0,0,0,0,0,0,24.18,24.18,24.12
$STATE,2095,end apogee,CONTROL_FINISHED_OK
$STATE,2095,begin climb
$GC,2099,2.14,146.0,1647,1939,3066,3216,27.7,0.0,154,2231,2.80,0.00,123.90,0.001,10246,0.000,0.000,2180,1934,2541,2481,2602,0,0,0,0,0,0,24.18,28.83,24.12
$STATE,2378,end climb,SURFACE_DEPTH_REACHED
$STATE,2378,begin surface coast
$FINISH,0.8,-1.177910
$STATE,2395,end surface coast,CONTROL_FINISHED_OK
$STATE,2395,begin surface
$SM_CCo,2417,129.55,0.000,0,0,1707,350.04
$SM_GC,-0.01,9.45,0.28,129.55,0.000,0.000,0.000,321,2055,1707,-6.33,1.41,350.04,0,0,0,0,0,0,24.18,24.17,24.14
$RAFOS_CLK,36
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.065163,0.065163
$HUMID,64.05
$INTERNAL_PRESSURE,16.026
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.9,0.0
$SC_FREEKB,3939328
$24V_AH,24.0,187.317
$10V_AH,10.5,71.175
$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,20.050,6.925,241.075,129.550,0.000,0.000,0.000,79.250,0.000,0.000,21.422,0.000,1509.409,386.203,633.424,280.162,33.213,684.924,0.000,448.193,0.000,20.308,0.000
$DEVICE_MAMPS,119.000,60.000,0.765,600.000,0.000,0.000,0.000,56.610,0.000,0.000,50.000,0.000,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,316.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.166,0.000,0.000,0.000
$MEM,306876
$DATA_FILE_SIZE,3491,185
$CAP_FILE_SIZE,99713,0
$CFSIZE,260165632,239095808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,030114,161650,4806.991,-12223.072,20,1.7,26,18.0