version: 66.11
glider: 99
mission: 78
dive: 350
start: 9 13 113 17 15 23
data:
$ID,99
$MISSION,78
$DIVE,350
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,95
$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,63
$T_MISSION,75
$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,0.0043390002
$HD_B,0.013382
$HD_C,5.8987e-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,300
$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,-1241570.6
$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,22
$R_STBD_OVSHOOT,41
$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
$DEVICE1,133
$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,16
$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
$GPS1,130913,170647,4805.665,-12221.758,12,1.2,17,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,130913,171341,4805.680,-12221.763,17,1.7,25,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.134,0.081
$KALMAN_X,773959.7,-474243.4,-25787.4,-270545.3,69120.4
$KALMAN_Y,-458595.0,277936.1,15184.0,161047.7,-40211.0
$MHEAD_RNG_PITCHd_Wd,283.1,2883,-10.6,-5.026,-17.76,3323
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,24,-0.84,-146.0,338,1993,1869,1944,0.0,0.0,0,91,0.00,0.00,-60.53,0.000,16390,0.000,0.000,338,2001,3717,3640,3795,0,0,0,0,0,0,28.83,28.83,24.18
$GC,96,-0.84,-146.0,338,1993,3640,3779,0.2,-1.1,13,109,6.05,2.55,0.00,0.000,2564,0.000,0.000,1547,555,3711,3633,3790,0,0,0,0,0,0,24.17,24.16,28.83
$GC,221,-0.84,-146.0,1546,556,3626,3781,13.4,-6.8,36,228,0.00,2.72,-0.10,0.000,17414,0.000,0.000,1546,2050,3725,3666,3784,0,0,0,0,0,0,28.83,24.17,24.18
$GC,534,-0.84,-146.0,1547,2042,3645,3805,34.1,-6.1,83,539,0.00,2.50,0.00,0.000,260,0.000,0.000,1545,3421,3726,3635,3817,0,0,0,0,0,0,28.83,24.17,28.83
$GC,681,-0.84,-146.0,1546,3418,3645,3797,43.2,-6.6,97,686,0.00,2.67,0.00,0.000,1030,0.000,0.000,1546,1971,3711,3630,3792,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1005,-0.84,-146.0,1545,1973,3639,3786,64.8,-6.4,118,1009,0.00,2.75,0.00,0.000,260,0.000,0.000,1546,3462,3714,3642,3787,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1294,-0.84,-146.0,1549,3460,3643,3801,82.1,-6.3,131,1300,0.00,2.65,0.00,0.000,1030,0.000,0.000,1545,2041,3707,3632,3783,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,1516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1516,begin apogee
$GC,1525,-0.31,0.0,1547,1915,3664,3786,95.0,-3.9,143,1655,0.60,0.15,119.90,0.000,10246,0.000,0.000,1655,1978,3124,3068,3181,0,0,0,0,0,0,24.17,24.17,24.12
$STATE,1657,end apogee,CONTROL_FINISHED_OK
$STATE,1657,begin climb
$GC,1660,0.84,146.0,1655,1979,3064,3190,94.4,0.0,149,1795,1.27,2.67,121.78,0.000,10756,0.000,0.000,1913,544,2536,2486,2586,0,0,0,0,0,0,24.17,24.16,24.12
$GC,2068,0.84,146.0,1915,544,2490,2596,64.2,7.2,170,2073,0.00,2.80,0.00,0.000,1030,0.000,0.000,1903,2063,2533,2486,2580,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2377,0.84,146.0,1911,2078,2488,2592,41.8,6.8,191,2382,0.00,2.80,0.00,0.000,516,0.000,0.000,1914,520,2542,2501,2583,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2660,0.84,146.0,1914,519,2484,2593,21.9,7.4,222,2667,0.00,2.90,0.00,0.000,1030,0.000,0.000,1915,2092,2540,2486,2594,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,2943,end climb,SURFACE_DEPTH_REACHED
$STATE,2943,begin surface coast
$FINISH,0.0,1.175443
$STATE,2978,end surface coast,CONTROL_FINISHED_OK
$STATE,2978,begin surface
$SM_CCo,3000,97.45,0.000,0,0,1905,300.00
$SM_GC,-0.00,7.97,0.35,97.45,0.000,0.000,0.000,331,1964,1905,-6.31,-1.07,300.00,0,0,0,0,0,0,24.16,24.17,24.13
$RAFOS_CLK,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.021721,0.021721
$HUMID,83.27
$INTERNAL_PRESSURE,15.9772
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.1,0.0
$SC_FREEKB,3775104
$24V_AH,24.1,109.430
$10V_AH,10.7,48.471
$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,15.900,27.725,241.675,97.450,0.000,0.000,0.000,107.975,0.000,0.000,25.964,907.316,1241.556,394.179,743.332,278.940,33.230,848.821,0.000,567.038,0.000,26.777,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,0.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3039.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.710,0.000,0.000,0.000
$MEM,310212
$DATA_FILE_SIZE,10127,283
$CAP_FILE_SIZE,66268,0
$CFSIZE,260165632,220127232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,130913,180855,4805.973,-12221.827,28,1.5,34,18.0