version: 66.12
glider: 99
mission: 78
dive: 133
start: 1 4 114 14 29 22
data:
$ID,99
$MISSION,78
$DIVE,133
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,95
$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,63
$T_MISSION,70
$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,0.0043390002
$HD_B,0.013382
$HD_C,5.8987e-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,300
$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,-1250053.1
$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,4
$R_STBD_OVSHOOT,0
$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
$GPS1,040114,142358,4807.270,-12223.151,22,1.6,30,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,040114,142818,4807.247,-12223.146,17,1.8,27,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.070,-0.140
$KALMAN_X,16613.6,31.6,-62.5,-16033.3,106.1
$KALMAN_Y,-3411.1,247.6,172.4,2122.0,-52.1
$MHEAD_RNG_PITCHd_Wd,135.4,4937,-10.6,-5.026,-17.76,3323
$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,-0.84,-146.0,324,2034,1869,1942,0.0,0.0,0,80,0.00,0.22,-61.38,0.000,16390,0.000,0.000,323,1945,3713,3639,3787,0,0,0,0,0,0,28.83,24.18,24.19
$GC,84,-0.84,-146.0,322,1946,3662,3790,0.0,-0.0,6,96,6.10,2.72,0.00,0.000,2564,0.000,0.000,1532,526,3714,3643,3786,0,0,0,0,0,0,24.17,24.18,28.83
$GC,120,-0.84,-146.0,1530,527,3638,3820,3.3,-6.6,9,126,0.00,2.78,0.00,0.000,1030,0.000,0.000,1527,2029,3726,3655,3798,0,0,0,0,0,0,28.83,24.18,28.83
$GC,428,-0.84,-146.0,1531,2022,3638,3772,26.5,-6.4,40,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,2026,3700,3633,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,737,-0.84,-146.0,1527,2023,3658,3807,43.7,-5.4,71,741,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,2022,3724,3653,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1056,-0.84,-146.0,1529,2022,3639,3787,60.3,-5.0,93,1058,0.00,0.00,-0.15,0.000,16390,0.000,0.000,1528,2015,3724,3647,3801,0,0,0,0,0,0,28.83,28.83,24.18
$GC,1358,-0.84,-146.0,1530,2023,3638,3790,75.5,-5.1,108,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,2023,3709,3638,3780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1655,-0.84,-146.0,1532,2018,3635,3789,91.5,-5.5,123,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,2018,3738,3667,3809,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1803,begin apogee
$GC,1811,-0.31,0.0,1514,1988,3634,3790,95.0,-1.4,130,1938,0.75,0.05,118.97,0.001,10246,0.000,0.000,1659,1992,3136,3074,3199,0,0,0,0,0,0,24.18,24.17,24.13
$STATE,1939,end apogee,CONTROL_FINISHED_OK
$STATE,1940,begin climb
$GC,1943,0.84,146.0,1658,1988,3075,3198,89.3,0.0,137,2073,1.25,0.00,122.75,0.001,10246,0.000,0.000,1915,1991,2539,2490,2588,0,0,0,0,0,0,24.18,28.83,24.13
$GC,2378,0.84,146.0,1916,1989,2503,2588,62.1,5.8,159,2379,0.00,0.00,0.03,0.000,8198,0.000,0.000,1916,1994,2536,2483,2589,0,0,0,0,0,0,28.83,28.83,24.13
$GC,2675,0.84,146.0,1919,1990,2498,2579,44.5,5.7,178,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,1992,2543,2498,2588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2980,0.84,146.0,1911,1990,2494,2589,27.4,5.3,208,2983,0.00,2.70,0.00,0.000,260,0.000,0.000,1915,3435,2534,2484,2585,0,0,0,0,0,0,28.83,24.18,28.83
$GC,3145,0.84,146.0,1914,3430,2481,2606,18.2,6.0,223,3152,0.00,2.75,0.00,0.000,1030,0.000,0.000,1918,1979,2534,2491,2578,0,0,0,0,0,0,28.83,24.18,28.83
$GC,3455,0.87,165.8,1913,1981,2489,2576,2.1,4.4,254,3462,0.00,0.00,5.90,0.000,8194,0.000,0.000,1907,1976,2500,2452,2549,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3463,end climb,SURFACE_DEPTH_REACHED
$STATE,3463,begin surface coast
$STATE,3511,end surface coast,CONTROL_FINISHED_OK
$STATE,3511,begin surface
$SM_CCo,3533,92.72,0.000,0,0,1905,300.00
$SM_GC,-0.00,8.02,0.17,92.72,0.000,0.000,0.000,352,2008,1905,-6.29,0.14,300.00,0,0,0,0,0,0,24.18,24.18,24.14
$RAFOS_CLK,34
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.061418,0.061418
$HUMID,64.41
$INTERNAL_PRESSURE,16.1432
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.4,0.0
$SC_FREEKB,3936128
$24V_AH,24.0,187.861
$10V_AH,10.6,71.837
$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,16.125,11.850,247.650,92.725,0.000,0.000,0.000,68.975,0.000,0.000,27.790,0.000,2132.187,336.420,1023.991,398.802,33.218,716.336,0.000,824.751,0.000,26.756,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,1948.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.916,0.000,0.000,0.000
$MEM,306772
$DATA_FILE_SIZE,6801,260
$CAP_FILE_SIZE,175936,0
$CFSIZE,260165632,237899776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,040114,153049,4806.947,-12222.725,19,2.0,26,18.0