version: 66.11
glider: 99
mission: 78
dive: 528
start: 9 21 113 0 13 18
data:
$ID,99
$MISSION,78
$DIVE,528
$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,-1241796.1
$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,36
$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
$DEVICE1,133
$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
$GPS1,210913,000502,4805.645,-12221.636,20,2.0,26,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,210913,001139,4805.651,-12221.639,26,1.5,36,18.0
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.143,-0.217
$KALMAN_X,293422.1,-79.8,-30.4,-290576.8,0.9
$KALMAN_Y,-181212.6,-138.6,41.5,177301.2,-4.5
$MHEAD_RNG_PITCHd_Wd,128.6,1441,-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,-146.0,346,1989,1466,1526,0.0,0.0,0,106,0.00,0.17,-74.38,0.000,16390,0.000,0.000,345,2067,3707,3638,3777,0,0,0,0,0,0,28.83,24.17,24.18
$GC,111,-1.32,-146.0,346,2064,3651,3784,1.1,-3.9,14,124,5.60,2.65,0.00,0.000,2564,0.000,0.000,1440,560,3711,3633,3789,0,0,0,0,0,0,24.17,24.17,28.83
$GC,206,-1.32,-146.0,1440,559,3653,3790,19.5,-14.6,31,212,0.00,2.72,0.00,0.000,1030,0.000,0.000,1442,2068,3711,3636,3786,0,0,0,0,0,0,28.83,24.17,28.83
$GC,543,-1.32,-146.0,1439,2069,3657,3784,71.0,-15.9,60,544,0.00,0.00,0.00,0.000,6,0.000,0.000,1437,2069,3714,3637,3791,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,687,begin apogee
$GC,695,-0.31,0.0,1439,1985,3654,3785,90.9,-13.6,67,821,1.17,0.20,118.97,0.000,10246,0.000,0.000,1669,2042,3128,3059,3198,0,0,0,0,0,0,24.17,24.17,24.12
$STATE,823,end apogee,CONTROL_FINISHED_OK
$STATE,823,begin climb
$GC,827,1.32,146.0,1670,2041,3078,3204,94.3,0.0,74,959,1.77,0.00,123.03,0.000,10758,0.000,0.000,1996,2041,2541,2490,2592,0,0,0,0,0,0,24.17,28.83,24.11
$GC,1271,1.32,146.0,2000,2037,2479,2578,62.9,13.0,96,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2043,2527,2487,2567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1574,1.32,146.0,1998,2041,2473,2578,25.1,12.1,120,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2045,2532,2482,2583,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1768,end climb,SURFACE_DEPTH_REACHED
$STATE,1768,begin surface coast
$FINISH,0.2,1.218529
$STATE,1784,end surface coast,CONTROL_FINISHED_OK
$STATE,1784,begin surface
$SM_CCo,1807,161.65,0.000,0,0,1495,400.33
$SM_GC,-0.01,8.60,0.20,161.65,0.000,0.000,0.000,330,1980,1495,-6.32,-0.54,400.33,0,0,0,0,0,0,24.17,24.16,24.13
$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,81.34
$INTERNAL_PRESSURE,15.8307
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,68.0,0.0
$SC_FREEKB,3713568
$24V_AH,24.1,129.833
$10V_AH,10.7,53.774
$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,17.150,6.425,242.000,161.650,0.000,0.000,0.000,95.975,0.000,0.000,38.460,533.838,746.647,459.049,429.630,249.750,33.233,738.051,0.000,254.073,1080.000,24.136,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,0.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1818.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.650,0.000,0.000,0.000
$MEM,310264
$DATA_FILE_SIZE,3507,156
$CAP_FILE_SIZE,48854,0
$CFSIZE,260165632,209866752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,210913,004804,4805.426,-12221.512,26,1.9,36,18.0