version: 66.11
glider: 99
mission: 78
dive: 587
start: 9 23 113 2 24 51
data:
$ID,99
$MISSION,78
$DIVE,587
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$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,53
$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,0.0038360001
$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,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,-1241869.9
$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,38
$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
$GPS1,230913,021611,4805.017,-12221.111,13,1.8,19,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,230913,022312,4804.970,-12221.055,27,1.8,36,18.0
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.156,0.178
$KALMAN_X,293369.4,-25.3,93.7,-289982.7,123.1
$KALMAN_Y,-185731.5,277.6,-94.7,180284.9,-26.1
$MHEAD_RNG_PITCHd_Wd,300.8,6689,-14.1,-7.547,-17.71,2951
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.06,-146.0,318,2090,1667,1732,0.0,0.0,0,97,0.00,0.22,-67.15,0.000,16390,0.000,0.000,318,1947,3711,3639,3784,0,0,0,0,0,0,28.83,24.17,24.18
$GC,105,-1.06,-146.0,318,1958,3614,3799,1.5,-1.9,14,118,5.95,2.70,-0.15,0.000,18692,0.000,0.000,1498,3471,3715,3637,3793,0,0,0,0,0,0,24.17,24.17,24.18
$GC,133,-1.06,-146.0,1496,3463,3654,3780,4.4,-8.0,18,140,0.00,2.67,-0.15,0.000,17414,0.000,0.000,1498,1984,3728,3658,3798,0,0,0,0,0,0,28.83,24.16,24.18
$GC,446,-1.06,-146.0,1498,1984,3650,3812,41.6,-11.4,65,448,0.00,0.00,0.00,0.000,6,0.000,0.000,1497,1989,3705,3639,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,747,-1.06,-146.0,1498,1986,3636,3790,74.6,-11.1,84,748,0.00,0.00,0.00,0.000,6,0.000,0.000,1498,1993,3707,3633,3781,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,987,begin apogee
$GC,996,-0.31,0.0,1497,2024,3644,3800,100.3,-10.7,96,1122,0.88,0.00,118.10,0.000,10246,0.000,0.000,1664,2030,3147,3082,3213,0,0,0,0,0,0,24.17,28.83,24.11
$STATE,1123,end apogee,CONTROL_FINISHED_OK
$STATE,1124,begin climb
$GC,1127,1.06,146.0,1662,2023,3069,3196,108.9,0.0,102,1256,1.50,0.00,124.12,0.000,10246,0.000,0.000,1950,2023,2529,2483,2576,0,0,0,0,0,0,24.16,28.83,24.12
$GC,1548,1.08,162.8,1950,2020,2485,2587,81.7,7.0,124,1569,0.00,2.78,15.90,0.000,8708,0.000,0.000,1956,524,2466,2414,2519,0,0,0,0,0,0,28.83,24.17,24.12
$GC,1766,1.08,162.8,1949,526,2417,2511,63.0,9.1,135,1771,0.00,2.83,0.00,0.000,1030,0.000,0.000,1953,2077,2463,2421,2506,0,0,0,0,0,0,28.83,24.16,28.83
$GC,2080,1.08,162.8,1942,2074,2418,2518,34.1,8.9,159,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,2077,2468,2419,2517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2386,1.08,162.8,1970,2080,2425,2528,9.0,7.6,208,2392,0.00,0.00,0.03,0.000,8198,0.000,0.000,1952,2076,2467,2419,2516,0,0,0,0,0,0,28.83,28.83,24.13
$STATE,2479,end climb,SURFACE_DEPTH_REACHED
$STATE,2479,begin surface coast
$FINISH,0.2,1.173592
$STATE,2505,end surface coast,CONTROL_FINISHED_OK
$STATE,2506,begin surface
$SM_CCo,2529,119.65,0.000,0,0,1700,350.04
$SM_GC,-0.01,8.27,0.15,119.65,0.000,0.000,0.000,339,2024,1700,-6.33,1.44,350.04,0,0,0,0,0,0,24.17,24.16,24.13
$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,0.02247,0.02247
$HUMID,83.03
$INTERNAL_PRESSURE,15.8405
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,76.7,0.0
$SC_FREEKB,3694656
$24V_AH,24.1,136.985
$10V_AH,10.7,55.280
$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,16.600,11.725,258.150,119.650,0.000,0.000,0.000,104.475,0.000,0.000,37.245,673.337,1164.005,434.305,581.075,268.231,33.258,783.367,0.000,395.085,0.000,24.703,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2560.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.610,0.000,0.000,0.000
$MEM,310112
$DATA_FILE_SIZE,6856,231
$CAP_FILE_SIZE,55192,0
$CFSIZE,260165632,206966784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,230913,031050,4805.074,-12221.396,24,1.6,29,18.0