version: 66.11
glider: 99
mission: 78
dive: 525
start: 9 20 113 21 59 52
data:
$ID,99
$MISSION,78
$DIVE,525
$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,30
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$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,400
$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,-1241792.4
$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,3
$R_STBD_OVSHOOT,45
$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
$GPS1,200913,215140,4806.219,-12222.130,15,2.0,21,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,200913,215814,4806.182,-12222.164,24,1.4,30,18.0
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.151,-0.212
$KALMAN_X,293775.8,-271.0,-81.2,-291337.7,84.7
$KALMAN_Y,-181783.0,139.8,241.9,178378.3,-162.7
$MHEAD_RNG_PITCHd_Wd,126.5,2621,-18.3,-10.000,-21.02,2236
$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,-1.32,-146.0,312,1977,1470,1526,0.0,0.0,0,104,0.00,0.00,-73.93,0.000,16390,0.000,0.000,312,1981,3708,3644,3773,0,0,0,0,0,0,28.83,28.83,24.18
$GC,113,-1.32,-146.0,312,1976,3647,3782,0.9,-3.2,16,125,5.60,2.62,0.00,0.000,2564,0.000,0.000,1446,516,3699,3625,3774,0,0,0,0,0,0,24.17,24.17,28.83
$GC,202,-1.32,-146.0,1446,516,3627,3775,17.0,-14.4,32,209,0.00,2.75,-0.08,0.000,17414,0.000,0.000,1446,2016,3709,3643,3775,0,0,0,0,0,0,28.83,24.16,24.18
$GC,518,-1.32,-146.0,1446,2030,3656,3773,63.1,-14.8,64,523,0.00,2.70,-0.22,0.000,16900,0.000,0.000,1445,587,3714,3642,3787,0,0,0,0,0,0,28.83,24.17,24.18
$STATE,714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,714,begin apogee
$GC,725,-0.31,0.0,1446,2024,3631,3799,91.4,-14.5,73,856,1.23,0.20,118.80,0.000,10246,0.000,0.000,1688,1961,3130,3069,3191,0,0,0,0,0,0,24.17,24.17,24.12
$STATE,857,end apogee,CONTROL_FINISHED_OK
$STATE,857,begin climb
$GC,861,1.32,146.0,1684,1961,3066,3197,95.1,0.0,80,988,1.70,0.00,122.20,0.000,10502,0.000,0.000,2018,1960,2537,2488,2586,0,0,0,0,0,0,24.17,28.83,24.11
$GC,1290,1.45,250.2,2015,1962,2484,2584,82.9,5.2,102,1381,0.00,0.00,87.45,0.000,8454,0.000,0.000,2020,1949,2115,2071,2159,0,0,0,0,0,0,28.83,28.83,24.11
$GC,1671,1.45,250.2,2019,1960,2072,2155,39.7,11.6,125,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1961,2116,2074,2159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1985,1.45,250.2,2028,1962,2073,2158,5.2,10.0,173,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1961,2112,2071,2153,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2015,end climb,SURFACE_DEPTH_REACHED
$STATE,2015,begin surface coast
$FINISH,0.4,1.095028
$STATE,2037,end surface coast,CONTROL_FINISHED_OK
$STATE,2037,begin surface
$SM_CCo,2061,96.28,0.000,0,0,1496,400.33
$SM_GC,-0.00,8.62,0.00,96.28,0.000,0.000,0.000,330,1962,1496,-6.32,-1.24,400.33,0,0,0,0,0,0,24.17,28.83,24.13
$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,81.69
$INTERNAL_PRESSURE,15.8014
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,66.8,0.0
$SC_FREEKB,3714528
$24V_AH,24.1,129.433
$10V_AH,10.7,53.705
$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,17.150,11.000,328.450,96.275,0.000,0.000,0.000,98.400,0.000,0.000,32.093,527.662,859.671,480.637,489.370,245.398,33.234,800.641,0.000,321.693,0.000,24.094,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2074.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.600,0.000,0.000,0.000
$MEM,310220
$DATA_FILE_SIZE,6847,183
$CAP_FILE_SIZE,47171,0
$CFSIZE,260165632,209997824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,200913,223746,4806.029,-12221.943,33,1.7,38,18.0