version: 66.11
glider: 99
mission: 78
dive: 619
start: 9 24 113 9 40 49
data:
$ID,99
$MISSION,78
$DIVE,619
$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,67
$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,0.0038360001
$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,-1241915.9
$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,14
$R_STBD_OVSHOOT,10
$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
$GPS1,240913,093128,4804.966,-12220.918,14,2.0,20,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,240913,093911,4805.174,-12221.080,20,1.8,26,18.0
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.073,-0.204
$KALMAN_X,289403.6,-170.9,-195.8,-285612.1,-151.1
$KALMAN_Y,-182213.2,-86.3,132.6,177272.3,376.8
$MHEAD_RNG_PITCHd_Wd,142.2,337,-11.0,-5.970,-15.41,3714
$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,25,-0.87,-146.0,333,2015,1666,1736,0.0,0.0,0,96,0.00,0.00,-67.72,0.000,16390,0.000,0.000,333,2011,3716,3648,3785,0,0,0,0,0,0,28.83,28.83,24.18
$GC,101,-0.87,-146.0,333,2004,3649,3785,1.7,-2.1,14,114,6.10,2.62,0.00,0.000,2564,0.000,0.000,1521,550,3735,3653,3817,0,0,0,0,0,0,24.17,24.17,28.83
$GC,159,-0.87,-146.0,1520,550,3650,3777,6.2,-7.5,24,166,0.00,2.70,0.00,0.000,1030,0.000,0.000,1520,2047,3730,3645,3815,0,0,0,0,0,0,28.83,24.17,28.83
$GC,480,-0.87,-146.0,1517,2045,3650,3789,35.1,-9.7,76,481,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,2048,3733,3652,3814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,790,-0.87,-146.0,1520,2043,3642,3787,63.9,-9.2,100,791,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,2053,3717,3639,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1090,-0.87,-146.0,1520,2045,3654,3787,89.7,-8.4,115,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,2044,3744,3697,3791,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1234,begin apogee
$GC,1243,-0.31,0.0,1519,1970,3638,3788,101.2,-8.1,122,1373,0.60,0.00,120.18,0.000,10246,0.000,0.000,1642,1967,3138,3073,3204,0,0,0,0,0,0,24.16,28.83,24.11
$STATE,1374,end apogee,CONTROL_FINISHED_OK
$STATE,1374,begin climb
$GC,1378,0.87,146.0,1644,1969,3070,3182,109.1,0.0,129,1512,1.38,2.70,122.57,0.000,10756,0.000,0.000,1931,529,2532,2482,2582,0,0,0,0,0,0,24.16,24.16,24.12
$GC,1566,0.88,156.5,1929,530,2485,2597,103.7,5.7,138,1580,0.00,2.67,8.95,0.000,9222,0.000,0.000,1928,1989,2499,2450,2549,0,0,0,0,0,0,28.83,24.17,24.12
$GC,1899,0.88,156.5,1931,2007,2445,2565,79.6,7.3,155,1908,0.00,2.62,1.05,0.000,8452,0.000,0.000,1933,3401,2497,2446,2548,0,0,0,0,0,0,28.83,24.17,24.13
$GC,2188,0.88,156.5,1934,3408,2448,2547,58.0,7.6,169,2197,0.00,2.60,3.08,0.000,9222,0.000,0.000,1927,2000,2494,2448,2540,0,0,0,0,0,0,28.83,24.16,24.12
$GC,2502,0.88,156.5,1931,2002,2438,2542,35.6,6.8,194,2507,0.00,2.78,0.12,0.000,8452,0.000,0.000,1930,3484,2498,2454,2542,0,0,0,0,0,0,28.83,24.16,24.13
$GC,2786,0.88,156.5,1929,3484,2446,2543,15.9,7.7,234,2794,0.22,2.80,0.00,0.000,5126,0.000,0.000,1897,1983,2492,2445,2539,0,0,0,0,0,0,24.16,24.17,28.83
$STATE,3045,end climb,SURFACE_DEPTH_REACHED
$STATE,3045,begin surface coast
$FINISH,0.2,1.187707
$STATE,3108,end surface coast,CONTROL_FINISHED_OK
$STATE,3108,begin surface
$SM_CCo,3131,123.65,0.000,0,0,1700,350.04
$SM_GC,-0.00,7.90,0.00,123.65,0.000,0.000,0.000,331,1980,1700,-6.33,-0.40,350.04,0,0,0,0,0,0,24.16,28.83,24.13
$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,83.51
$INTERNAL_PRESSURE,15.9869
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,76.0,0.0
$SC_FREEKB,3683840
$24V_AH,24.1,140.704
$10V_AH,10.7,56.186
$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,16.200,21.675,255.950,123.650,0.000,0.000,0.000,125.875,0.000,0.000,27.797,864.681,1410.639,429.075,751.778,308.405,33.242,880.749,0.000,529.765,0.000,27.669,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,3169.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.648,0.000,0.000,0.000
$MEM,310188
$DATA_FILE_SIZE,10144,296
$CAP_FILE_SIZE,67899,0
$CFSIZE,260165632,205205504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,240913,103655,4805.017,-12221.143,25,2.0,31,18.0