version: 66.11
glider: 99
mission: 78
dive: 359
start: 9 14 113 2 32 18
data:
$ID,99
$MISSION,78
$DIVE,359
$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,65
$T_MISSION,80
$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,-1241581.9
$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,31
$R_STBD_OVSHOOT,2
$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
$GPS1,140913,022139,4807.918,-12223.946,11,1.8,16,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,140913,023016,4807.939,-12223.974,12,1.2,20,18.0
$SPEED_LIMITS,0.049,0.059
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.050,-0.030
$KALMAN_X,-213204.4,418276.7,66398.1,-272532.5,-84626.4
$KALMAN_Y,122467.0,-244628.6,-39229.3,162160.2,49635.0
$MHEAD_RNG_PITCHd_Wd,102.9,2115,-36.7,-4.872,-39.68,500
$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,23,-2.31,-16.1,343,2056,1870,1942,0.0,0.0,0,71,0.00,0.12,-42.85,0.000,16390,0.000,0.000,343,1979,3183,3123,3244,0,0,0,0,0,0,28.83,24.17,24.18
$GC,76,-2.34,-39.8,343,1980,3128,3253,-0.0,0.0,9,89,4.47,2.78,-3.42,0.000,18692,0.000,0.000,1233,3462,3280,3212,3348,0,0,0,0,0,0,24.17,24.17,24.18
$GC,231,-2.34,-39.8,1233,3437,3237,3362,6.4,-10.1,38,239,0.22,2.67,-0.03,0.000,21510,0.000,0.000,1190,1986,3287,3224,3350,0,0,0,0,0,0,24.16,24.17,24.14
$GC,551,-2.34,-39.8,1191,2002,3222,3350,22.0,-5.9,99,556,0.00,0.00,0.00,0.000,6,0.000,0.000,1190,2014,3312,3255,3369,0,0,0,0,0,0,28.83,28.83,28.83
$GC,866,-2.34,-39.8,1191,2003,3210,3363,38.8,-5.4,135,872,0.00,0.00,-0.05,0.000,16390,0.000,0.000,1189,2000,3297,3222,3373,0,0,0,0,0,0,28.83,28.83,24.17
$GC,1186,-2.34,-39.8,1189,2004,3224,3356,55.8,-5.6,162,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,1191,2004,3295,3245,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1485,-2.34,-39.8,1192,2002,3219,3354,71.5,-5.2,177,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,1191,1999,3269,3194,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1785,-2.34,-39.8,1190,2002,3244,3351,87.5,-5.4,192,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,1189,2004,3286,3226,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2086,-2.45,-126.5,1190,2006,3218,3344,79.2,13.0,207,2103,0.00,0.00,-11.73,0.000,16390,0.000,0.000,1192,2002,3637,3558,3716,0,0,0,0,0,0,28.83,28.83,24.18
$GC,2406,-2.47,-146.0,1190,2003,3563,3705,37.6,11.7,228,2413,0.00,0.00,-2.45,0.000,16390,0.000,0.000,1190,2003,3711,3639,3784,0,0,0,0,0,0,28.83,28.83,24.18
$STATE,2422,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2422,begin apogee
$GC,2431,-0.31,0.0,1189,2001,3631,3810,35.3,11.7,230,2557,2.45,0.00,117.80,0.000,10246,0.000,0.000,1677,2011,3140,3086,3194,0,0,0,0,0,0,24.16,28.83,24.11
$STATE,2559,end apogee,CONTROL_FINISHED_OK
$STATE,2559,begin climb
$GC,2563,2.47,146.0,1678,2013,3077,3194,20.6,0.0,247,2702,2.95,0.00,125.60,0.000,10246,0.000,0.000,2254,2003,2535,2486,2585,0,0,0,0,1,0,24.16,28.83,24.12
$STATE,2737,end climb,SURFACE_DEPTH_REACHED
$STATE,2737,begin surface coast
$FINISH,1.2,1.214544
$STATE,2772,end surface coast,CONTROL_FINISHED_OK
$STATE,2772,begin surface
$SM_CCo,2796,98.22,0.000,0,0,1906,300.00
$SM_GC,3.66,9.77,0.00,98.22,0.000,0.000,0.000,340,1988,1906,-6.28,0.08,300.00,0,0,0,0,0,0,24.17,28.83,24.13
$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,82.52
$INTERNAL_PRESSURE,15.9381
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.6,0.0
$SC_FREEKB,3771840
$24V_AH,24.1,110.427
$10V_AH,10.7,48.749
$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,19.875,5.825,243.400,98.225,0.000,0.000,0.000,151.325,0.000,0.000,21.512,717.417,1401.037,388.067,661.866,316.537,33.227,802.151,0.000,441.705,0.000,26.782,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2855.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.789,0.000,0.000,0.000
$MEM,310100
$DATA_FILE_SIZE,10139,285
$CAP_FILE_SIZE,64029,1
$CFSIZE,260165632,219578368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$GPS,140913,032227,4807.909,-12223.905,28,1.4,35,18.0