version: 66.11
glider: 99
mission: 78
dive: 625
start: 9 24 113 15 56 20
data:
$ID,99
$MISSION,78
$DIVE,625
$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,538.67877
$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,-1241923.4
$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,52
$R_STBD_OVSHOOT,44
$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
$GPS1,240913,154731,4805.847,-12221.709,15,2.0,22,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,240913,155445,4806.063,-12221.868,18,1.8,25,18.0
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.124,0.178
$KALMAN_X,287564.9,-98.5,80.1,-285096.5,-182.3
$KALMAN_Y,-180717.5,35.2,-181.2,177614.5,218.6
$MHEAD_RNG_PITCHd_Wd,307.1,4451,-11.0,-5.970,-15.41,3713
$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,-0.87,-146.0,338,1957,913,948,0.0,0.0,0,125,0.00,0.00,-93.00,0.000,16390,0.000,0.000,339,1975,3705,3622,3789,0,0,0,0,0,0,28.83,28.83,24.18
$GC,131,-0.87,-146.0,338,1972,3643,3787,1.4,-2.0,19,144,6.03,2.65,-0.32,0.000,18692,0.000,0.000,1526,3401,3724,3644,3805,0,0,0,0,0,0,24.17,24.16,24.18
$GC,421,-0.87,-146.0,1544,3410,3647,3785,28.8,-8.9,70,428,0.00,2.55,0.00,0.000,1030,0.000,0.000,1528,2035,3715,3640,3790,0,0,0,0,0,0,28.83,24.17,28.83
$GC,740,-0.87,-146.0,1527,2034,3652,3784,57.8,-9.3,98,745,0.00,2.55,-0.05,0.000,16644,0.000,0.000,1527,3367,3722,3634,3810,0,0,0,0,0,0,28.83,24.17,24.14
$GC,1051,-0.87,-146.0,1525,3400,3647,3793,84.2,-8.5,111,1058,0.00,2.70,0.00,0.000,1030,0.000,0.000,1526,1963,3730,3636,3824,0,0,0,0,0,0,28.83,24.16,28.83
$STATE,1238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1238,begin apogee
$GC,1247,-0.31,0.0,1527,1959,3644,3784,101.6,-9.2,121,1370,0.73,0.00,118.53,0.000,10246,0.000,0.000,1670,1963,3137,3074,3200,0,0,0,0,0,0,24.17,28.83,24.11
$STATE,1371,end apogee,CONTROL_FINISHED_OK
$STATE,1371,begin climb
$GC,1376,0.87,146.0,1671,1961,3080,3187,109.3,0.0,127,1507,1.27,0.00,123.38,0.000,10246,0.000,0.000,1934,1962,2547,2501,2593,0,0,0,0,0,0,24.16,28.83,24.11
$GC,1803,0.87,146.0,1933,1961,2486,2577,87.4,7.2,149,1809,0.20,2.65,0.00,0.000,4356,0.000,0.000,1910,3421,2536,2486,2586,0,0,0,0,0,0,24.17,24.17,28.83
$GC,1935,0.87,146.0,1913,3410,2491,2580,76.9,8.3,155,1940,0.00,2.62,0.00,0.000,1030,0.000,0.000,1908,1966,2539,2485,2594,0,0,0,0,0,0,28.83,24.16,28.83
$GC,2262,0.87,146.0,1909,1971,2487,2588,53.3,6.7,171,2264,0.00,0.00,0.47,0.000,8198,0.000,0.000,1910,1969,2533,2482,2585,0,0,0,0,0,0,28.83,28.83,24.13
$GC,2562,0.87,146.0,1910,1963,2488,2587,32.0,7.3,198,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,1965,2532,2483,2581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2893,0.87,146.0,1915,1967,2490,2581,10.3,6.1,247,2899,0.00,2.58,0.00,0.000,516,0.000,0.000,1908,541,2529,2489,2570,0,0,0,0,0,0,28.83,24.16,28.83
$GC,2977,0.99,246.9,1908,541,2490,2590,6.3,3.2,262,3072,0.30,2.62,80.88,0.000,11270,0.000,0.000,1949,1964,2123,2082,2164,0,0,0,0,1,0,24.16,24.16,24.11
$STATE,3077,end climb,SURFACE_DEPTH_REACHED
$STATE,3077,begin surface coast
$FINISH,0.2,1.176251
$STATE,3116,end surface coast,CONTROL_FINISHED_OK
$STATE,3116,begin surface
$SM_CCo,3140,185.77,0.000,0,0,929,538.92
$SM_GC,-0.01,8.10,0.25,185.77,0.000,0.000,0.000,354,2090,929,-6.28,1.13,538.92,0,0,0,0,0,0,24.17,24.16,24.13
$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,82.44
$INTERNAL_PRESSURE,15.9674
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,76.6,0.0
$SC_FREEKB,3681824
$24V_AH,24.1,141.457
$10V_AH,10.7,56.369
$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,16.625,21.175,323.250,185.775,0.000,0.000,0.000,111.600,0.000,0.000,26.444,902.243,1320.532,558.230,707.830,317.278,33.247,1011.001,0.000,502.260,1800.000,28.516,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,3178.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.615,0.000,0.000,0.000
$MEM,310240
$DATA_FILE_SIZE,10179,287
$CAP_FILE_SIZE,75989,0
$CFSIZE,260165632,204865536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$GPS,240913,165348,4806.316,-12222.104,34,1.6,42,18.0