version: 66.11
glider: 99
mission: 78
dive: 662
start: 9 26 113 6 48 45
data:
$ID,99
$MISSION,78
$DIVE,662
$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,400
$N_FILEKB,8
$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,-1241969.6
$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,4
$R_STBD_OVSHOOT,3
$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
$GPS1,260913,064005,4806.010,-12222.021,34,2.0,39,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,260913,064706,4806.049,-12222.028,17,1.3,23,18.0
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.111,-0.186
$KALMAN_X,286646.0,88.4,-50.2,-284432.7,-6.6
$KALMAN_Y,-180301.8,21.2,-53.9,177066.1,64.5
$MHEAD_RNG_PITCHd_Wd,131.2,2322,-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,-146.0,326,2019,1466,1526,0.0,0.0,0,102,0.00,0.28,-74.20,0.000,16390,0.000,0.000,326,1917,3716,3637,3795,0,0,0,0,0,0,28.83,24.17,24.18
$GC,111,-0.87,-146.0,326,1920,3624,3794,1.4,-1.1,15,123,6.12,2.53,0.00,0.000,2564,0.000,0.000,1558,488,3713,3645,3782,0,0,0,0,0,0,24.17,24.16,28.83
$GC,204,-0.87,-146.0,1576,488,3646,3803,8.6,-10.0,32,212,0.20,2.85,-0.05,0.000,21510,0.000,0.000,1537,2035,3716,3635,3797,0,0,0,0,0,0,24.17,24.16,24.18
$GC,525,-0.87,-146.0,1535,2036,3662,3781,37.5,-8.5,80,530,0.00,2.67,0.00,0.000,516,0.000,0.000,1537,587,3714,3648,3781,0,0,0,0,0,0,28.83,24.16,28.83
$GC,807,-0.87,-146.0,1537,587,3657,3785,61.3,-8.9,100,814,0.00,2.67,0.00,0.000,1030,0.000,0.000,1536,2018,3735,3642,3829,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1111,-0.87,-146.0,1535,2020,3638,3787,89.9,-9.2,116,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,2009,3722,3644,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1253,begin apogee
$GC,1262,-0.31,0.0,1535,1931,3657,3792,101.0,-7.8,123,1393,0.80,0.20,119.05,0.000,10246,0.000,0.000,1660,2038,3148,3093,3204,0,0,0,0,0,0,24.17,24.16,24.11
$STATE,1394,end apogee,CONTROL_FINISHED_OK
$STATE,1395,begin climb
$GC,1398,0.87,146.0,1666,2032,3069,3195,108.8,0.0,130,1528,1.33,0.00,122.62,0.000,10246,0.000,0.000,1927,2038,2541,2491,2591,0,0,0,0,0,0,24.17,28.83,24.11
$GC,1830,0.87,146.0,1932,2035,2493,2597,86.3,7.0,152,1835,0.00,2.50,0.10,0.000,8452,0.000,0.000,1927,3416,2535,2489,2582,0,0,0,0,0,0,28.83,24.17,24.13
$GC,1948,0.87,146.0,1928,3410,2484,2587,78.3,7.8,157,1954,0.00,2.72,0.00,0.000,1030,0.000,0.000,1928,1925,2533,2484,2583,0,0,0,0,0,0,28.83,24.16,28.83
$GC,2255,0.87,146.0,1922,1927,2487,2591,54.9,6.9,173,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1926,2535,2483,2587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2556,0.87,146.0,1926,1925,2487,2589,33.8,6.9,199,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,1924,2543,2493,2594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2870,0.87,146.0,1949,1926,2476,2590,12.4,6.4,248,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,1922,2537,2484,2590,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3050,end climb,SURFACE_DEPTH_REACHED
$STATE,3050,begin surface coast
$FINISH,0.4,1.160966
$STATE,3078,end surface coast,CONTROL_FINISHED_OK
$STATE,3078,begin surface
$SM_CCo,3101,162.32,0.000,0,0,1495,400.08
$SM_GC,-0.01,8.12,0.28,162.32,0.000,0.000,0.000,336,2036,1495,-6.29,1.05,400.08,0,0,0,0,0,0,24.16,24.16,24.13
$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,82.64
$INTERNAL_PRESSURE,16.026
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,75.3,0.0
$SC_FREEKB,3669248
$24V_AH,24.1,146.078
$10V_AH,10.7,57.473
$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,16.575,17.225,241.775,162.325,0.000,0.000,0.000,107.300,0.000,0.000,24.896,824.068,1448.866,483.257,682.312,295.606,33.244,883.669,0.000,499.175,0.000,24.717,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,3140.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.621,0.000,0.000,0.000
$MEM,310132
$DATA_FILE_SIZE,10165,288
$CAP_FILE_SIZE,63366,0
$CFSIZE,260165632,202821632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,260913,074453,4805.739,-12221.766,15,1.4,23,18.0