version: 66.12
glider: 99
mission: 78
dive: 85
start: 1 2 114 17 31 37
data:
$ID,99
$MISSION,78
$DIVE,85
$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,50
$T_MISSION,65
$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,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-05
$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,-1249993.1
$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,1
$R_STBD_OVSHOOT,1
$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
$GPS1,020114,172614,4806.468,-12222.342,28,1.7,37,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,020114,173033,4806.430,-12222.355,9,2.0,16,18.0
$SPEED_LIMITS,0.060,0.169
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.034,-0.166
$KALMAN_X,12272.4,-82.8,-159.2,-10501.4,193.0
$KALMAN_Y,-5429.8,203.9,118.8,2732.0,-39.9
$MHEAD_RNG_PITCHd_Wd,150.5,910,-13.2,-6.000,-19.50,3174
$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,-1.01,-146.0,359,1997,1667,1739,0.0,0.0,0,91,0.00,0.12,-67.43,0.000,16390,0.000,0.000,360,2075,3713,3643,3784,0,0,0,0,0,0,28.83,24.18,24.18
$GC,95,-1.01,-146.0,359,2076,3668,3795,0.2,-0.5,7,107,5.68,2.88,-0.05,0.000,19204,0.000,0.000,1511,551,3719,3647,3791,0,0,0,0,0,0,24.17,24.18,24.16
$GC,144,-1.01,-146.0,1511,551,3655,3788,9.1,-20.9,12,147,0.00,2.75,0.00,0.000,1030,0.000,0.000,1515,2027,3716,3642,3790,0,0,0,0,0,0,28.83,24.18,28.83
$GC,454,-1.01,-146.0,1513,2029,3646,3784,31.1,-6.4,43,458,0.00,2.67,-0.05,0.000,16900,0.000,0.000,1511,567,3721,3636,3807,0,0,0,0,0,0,28.83,24.18,24.15
$GC,729,-1.01,-146.0,1510,568,3650,3807,47.1,-5.8,70,735,0.00,2.72,0.00,0.000,1030,0.000,0.000,1512,2088,3712,3635,3790,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1044,-1.01,-146.0,1515,2094,3634,3796,67.1,-6.5,88,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,2090,3713,3637,3790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1345,-1.01,-146.0,1511,2099,3652,3808,86.1,-6.2,103,1346,0.00,0.00,-0.03,0.000,16390,0.000,0.000,1512,2090,3725,3640,3810,0,0,0,0,0,0,28.83,28.83,24.13
$STATE,1463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1463,begin apogee
$GC,1470,-0.31,0.0,1514,1935,3646,3812,90.1,-2.0,109,1601,0.73,0.17,120.05,0.001,10246,0.000,0.000,1664,2017,3128,3067,3189,0,0,0,0,0,0,24.18,24.18,24.13
$STATE,1604,end apogee,CONTROL_FINISHED_OK
$STATE,1604,begin climb
$GC,1608,1.01,146.0,1667,1996,3073,3212,86.6,0.0,116,1733,1.50,0.00,122.28,0.001,10246,0.000,0.000,1941,2001,2529,2486,2572,0,0,0,0,0,0,24.18,28.83,24.13
$GC,2025,1.01,146.0,1943,1989,2490,2588,55.8,7.9,137,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2005,2534,2486,2583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2322,1.01,146.0,1942,2007,2489,2594,34.3,6.8,163,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2011,2546,2499,2593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2633,1.01,146.0,1939,2005,2484,2587,12.4,6.8,193,2638,0.00,2.58,0.00,0.000,260,0.000,0.000,1935,3401,2536,2486,2586,0,0,0,0,0,0,28.83,24.18,28.83
$GC,2795,1.03,164.7,1949,3401,2492,2579,2.6,5.4,209,2808,0.00,2.62,8.80,0.000,9218,0.000,0.000,1942,1941,2481,2428,2534,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,2808,end climb,SURFACE_DEPTH_REACHED
$STATE,2808,begin surface coast
$FINISH,0.8,0.000000
$STATE,2847,end surface coast,CONTROL_FINISHED_OK
$STATE,2847,begin surface
$SM_CCo,2868,121.68,0.000,0,0,1702,350.04
$SM_GC,-0.01,8.15,0.28,121.68,0.000,0.000,0.000,350,2038,1702,-6.30,1.95,350.04,0,0,0,0,0,0,24.18,24.17,24.14
$RAFOS_CLK,20
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.060669,0.060669
$HUMID,65.39
$INTERNAL_PRESSURE,15.9967
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.9,0.0
$SC_FREEKB,3942656
$24V_AH,24.0,186.701
$10V_AH,10.5,70.530
$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,16.050,17.275,251.125,121.675,0.000,0.000,0.000,80.225,0.000,0.000,17.195,0.000,1721.977,347.714,862.962,322.293,33.217,754.170,0.000,599.431,0.000,23.898,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,1252.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.041,0.000,0.000,0.000
$MEM,306908
$DATA_FILE_SIZE,6813,215
$CAP_FILE_SIZE,125289,0
$CFSIZE,260165632,240164864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,020114,182243,4806.132,-12222.029,36,2.0,42,18.0