version: 66.11
glider: 99
mission: 78
dive: 666
start: 9 26 113 11 12 50
data:
$ID,99
$MISSION,78
$DIVE,666
$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,1
$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,-1241974.6
$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,19
$R_STBD_OVSHOOT,65
$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
$GPS1,260913,110510,4805.415,-12221.453,28,1.6,35,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,260913,111115,4805.484,-12221.507,14,1.6,19,18.0
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.136,-0.169
$KALMAN_X,285831.5,-170.0,76.3,-282842.7,-289.3
$KALMAN_Y,-179285.5,258.7,23.7,174688.3,329.0
$MHEAD_RNG_PITCHd_Wd,123.2,1094,-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,-146.0,348,1972,913,948,0.0,0.0,0,125,0.00,0.00,-92.93,0.000,16390,0.000,0.000,349,1972,3713,3629,3797,0,0,0,0,0,0,28.83,28.83,24.18
$GC,131,-0.87,-146.0,348,1974,3635,3773,1.4,-1.0,19,144,6.07,2.55,-0.05,0.000,18948,0.000,0.000,1523,596,3707,3639,3775,0,0,0,0,0,0,24.17,24.17,24.14
$GC,309,-0.87,-146.0,1522,596,3643,3805,19.4,-12.7,52,316,0.00,2.55,0.00,0.000,1030,0.000,0.000,1522,1992,3731,3639,3823,0,0,0,0,0,0,28.83,24.17,28.83
$GC,624,-0.87,-146.0,1520,1995,3639,3791,46.9,-5.2,86,630,0.00,2.92,-0.05,0.000,16900,0.000,0.000,1524,419,3730,3664,3797,0,0,0,0,0,0,28.83,24.16,24.17
$GC,910,-0.87,-146.0,1521,419,3671,3785,63.1,-6.6,102,916,0.00,2.88,0.00,0.000,1030,0.000,0.000,1523,1967,3708,3639,3777,0,0,0,0,0,0,28.83,24.16,28.83
$GC,1211,-0.87,-146.0,1522,1973,3629,3775,87.7,-8.1,118,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,1974,3723,3656,3790,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1374,begin apogee
$GC,1383,-0.31,0.0,1523,2048,3648,3804,100.8,-8.4,126,1514,0.75,0.15,118.93,0.000,10246,0.000,0.000,1675,1981,3132,3069,3195,0,0,0,0,0,0,24.17,24.17,24.12
$STATE,1515,end apogee,CONTROL_FINISHED_OK
$STATE,1515,begin climb
$GC,1519,0.87,146.0,1675,1981,3067,3202,110.1,0.0,133,1649,1.25,0.00,123.12,0.000,10246,0.000,0.000,1913,1981,2538,2487,2590,0,0,0,0,0,0,24.16,28.83,24.12
$GC,1951,0.87,146.0,1912,1983,2479,2580,87.6,8.4,155,1956,0.00,2.72,0.00,0.000,260,0.000,0.000,1911,3497,2533,2479,2587,0,0,0,0,0,0,28.83,24.16,28.83
$GC,2231,0.87,146.0,1924,3481,2486,2581,63.2,9.5,168,2238,0.00,2.70,0.10,0.000,9222,0.000,0.000,1915,2023,2536,2486,2587,0,0,0,0,0,0,28.83,24.16,24.13
$GC,2538,0.87,146.0,1915,2028,2493,2582,36.0,6.9,192,2544,0.00,0.00,0.10,0.000,8198,0.000,0.000,1911,2024,2528,2484,2573,0,0,0,0,0,0,28.83,28.83,24.13
$GC,2851,0.96,219.3,1913,2024,2486,2585,18.4,3.9,237,2943,0.00,0.00,76.72,0.000,8198,0.000,0.000,1911,2025,2234,2187,2281,0,0,0,0,1,0,28.83,28.83,24.12
$STATE,3154,end climb,SURFACE_DEPTH_REACHED
$STATE,3154,begin surface coast
$FINISH,0.4,1.183676
$STATE,3180,end surface coast,CONTROL_FINISHED_OK
$STATE,3180,begin surface
$SM_CCo,3202,115.15,0.000,0,0,1496,400.08
$SM_GC,-0.01,8.02,0.20,115.15,0.000,0.000,0.000,324,1945,1496,-6.35,-1.02,400.08,0,0,0,0,0,0,24.16,24.16,24.13
$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,83.03
$INTERNAL_PRESSURE,16.0358
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,76.4,0.0
$SC_FREEKB,3667840
$24V_AH,24.1,146.657
$10V_AH,10.7,57.598
$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,16.100,16.800,318.975,115.150,0.000,0.000,0.000,56.600,0.000,0.000,20.495,845.323,1422.561,517.076,663.736,281.399,33.258,898.433,0.000,521.495,360.000,27.685,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,3239.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.644,0.000,0.000,0.000
$MEM,310196
$DATA_FILE_SIZE,10168,299
$CAP_FILE_SIZE,62225,0
$CFSIZE,260165632,202555392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$GPS,260913,120946,4805.300,-12221.312,9,1.8,16,18.0