version: 66.12
glider: 99
mission: 78
dive: 31
start: 12 31 113 16 44 3
data:
$ID,99
$MISSION,78
$DIVE,31
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,40
$T_MISSION,60
$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,-1249925.6
$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,50
$R_STBD_OVSHOOT,8
$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,-1
$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,101
$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
$GPS1,311213,163856,4807.379,-12223.296,36,1.5,43,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,311213,164300,4807.351,-12223.312,12,1.8,17,18.0
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,50.000
$KALMAN_CONTROL,0.094,-0.216
$KALMAN_X,7264.2,-169.3,46.2,-6795.3,57.6
$KALMAN_Y,-8841.2,343.8,-76.7,7901.9,41.1
$MHEAD_RNG_PITCHd_Wd,138.5,756,-14.1,-7.500,-17.65,2969
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.06,-146.0,333,2028,1669,1737,0.0,0.0,0,86,0.00,0.00,-67.90,0.000,16390,0.000,0.000,333,2035,3714,3643,3785,0,0,0,0,0,0,28.83,28.83,24.19
$GC,90,-1.06,-146.0,333,2018,3642,3783,0.3,-0.6,7,104,5.95,2.62,0.00,0.000,2564,0.000,0.000,1523,631,3714,3631,3797,0,0,0,0,0,0,24.18,24.18,28.83
$GC,381,-1.06,-146.0,1521,632,3646,3780,25.9,-6.4,36,387,0.28,2.58,-0.08,0.000,21510,0.000,0.000,1482,2038,3714,3636,3793,0,0,0,0,0,0,24.18,24.18,24.19
$GC,689,-1.06,-146.0,1480,2036,3656,3793,46.4,-6.6,67,695,0.00,2.47,-0.08,0.000,16644,0.000,0.000,1481,3361,3712,3634,3791,0,0,0,0,0,0,28.83,24.17,24.18
$GC,720,-1.06,-146.0,1485,3356,3637,3829,48.4,-6.5,70,727,0.00,2.58,0.00,0.000,1030,0.000,0.000,1481,1998,3714,3640,3788,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1032,-1.06,-146.0,1481,1999,3656,3789,69.2,-6.7,87,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,1482,2000,3714,3645,3783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1333,-1.06,-146.0,1480,1995,3668,3793,89.1,-6.2,102,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,1479,1999,3727,3674,3781,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1393,begin apogee
$GC,1400,-0.31,0.0,1479,1991,3645,3768,90.2,-2.2,105,1522,0.93,0.00,117.45,0.001,10246,0.000,0.000,1669,1996,3137,3067,3208,0,0,0,0,0,0,24.18,28.83,24.13
$STATE,1527,end apogee,CONTROL_FINISHED_OK
$STATE,1527,begin climb
$GC,1531,1.06,146.0,1669,1988,3072,3214,88.5,0.0,111,1666,1.45,0.00,123.95,0.001,10246,0.000,0.000,1957,1997,2533,2481,2586,0,0,0,0,0,0,24.18,28.83,24.12
$GC,1964,1.07,153.5,1957,2003,2490,2590,56.4,7.2,133,1973,0.00,0.00,8.05,0.000,8198,0.000,0.000,1952,2002,2505,2456,2555,0,0,0,0,0,0,28.83,28.83,24.12
$GC,2265,1.07,153.5,1958,1998,2458,2555,35.4,8.1,158,2267,0.00,0.00,0.52,0.000,8198,0.000,0.000,1952,1995,2501,2450,2553,0,0,0,0,0,0,28.83,28.83,24.14
$GC,2568,1.08,166.9,1958,1997,2455,2550,13.5,7.0,188,2602,0.00,0.00,28.23,0.000,8198,0.000,0.000,1955,1993,2449,2407,2491,0,0,0,0,1,0,28.83,28.83,24.12
$STATE,2749,end climb,SURFACE_DEPTH_REACHED
$STATE,2749,begin surface coast
$FINISH,0.5,0.000000
$STATE,2779,end surface coast,CONTROL_FINISHED_OK
$STATE,2779,begin surface
$SM_CCo,2800,116.88,0.000,0,0,1700,350.04
$SM_GC,-0.01,8.30,0.00,116.88,0.000,0.000,0.000,313,1996,1700,-6.38,-0.06,350.04,0,0,0,0,0,0,24.18,28.83,24.14
$RAFOS_CLK,12
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.043442,0.043442
$HUMID,64.37
$INTERNAL_PRESSURE,16.0651
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.2,0.0
$SC_FREEKB,3950016
$24V_AH,24.0,185.431
$10V_AH,10.5,69.086
$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,16.900,10.250,278.200,116.875,0.000,0.000,0.000,68.675,0.000,0.000,18.275,0.000,1586.975,377.433,868.294,332.345,33.231,750.810,0.000,654.753,0.000,21.067,0.000
$DEVICE_MAMPS,119.000,60.000,0.765,600.000,0.000,0.000,0.000,56.610,0.000,0.000,50.000,0.000,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1259.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.551,0.000,0.000,0.000
$MEM,317500
$DATA_FILE_SIZE,6809,209
$CAP_FILE_SIZE,140842,0
$CFSIZE,260165632,242655232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$GPS,311213,173346,4807.083,-12222.948,29,2.0,34,18.0