version: 66.12
glider: 99
mission: 78
dive: 135
start: 1 4 114 16 43 49
data:
$ID,99
$MISSION,78
$DIVE,135
$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,-1250055.6
$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,0
$R_STBD_OVSHOOT,4
$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
$GPS1,040114,163809,4806.596,-12222.392,34,2.0,43,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,040114,164245,4806.588,-12222.396,30,1.7,38,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.034,-0.153
$KALMAN_X,17106.9,-11.0,-44.7,-15573.2,274.3
$KALMAN_Y,-3346.7,188.6,40.2,1029.4,-110.4
$MHEAD_RNG_PITCHd_Wd,149.3,3411,-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,-146.0,341,2002,1863,1939,0.0,0.0,0,80,0.00,0.03,-61.00,0.000,16390,0.000,0.002,342,1997,3717,3638,3796,0,0,0,0,0,0,28.83,24.14,24.19
$GC,84,-0.84,-146.0,341,1998,3628,3797,0.0,-0.1,6,98,6.07,2.70,-0.35,0.000,18692,0.000,0.000,1544,3415,3718,3641,3796,0,0,0,0,0,0,24.17,24.18,24.19
$GC,379,-0.84,-146.0,1543,3426,3655,3764,22.8,-6.3,35,384,0.00,2.70,0.00,0.000,1030,0.000,0.000,1546,1977,3715,3633,3797,0,0,0,0,0,0,28.83,24.18,28.83
$GC,689,-0.84,-146.0,1535,1980,3659,3782,39.5,-5.2,66,693,0.00,0.00,-0.12,0.000,16390,0.000,0.000,1543,1975,3723,3642,3804,0,0,0,0,0,0,28.83,28.83,24.18
$GC,995,-0.84,-146.0,1544,1981,3661,3792,55.8,-5.2,92,995,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,1970,3731,3660,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1299,-0.84,-146.0,1543,1987,3639,3801,71.4,-5.2,107,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,1983,3707,3633,3782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1596,-0.84,-146.0,1544,1980,3654,3805,87.6,-5.5,122,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,1975,3717,3650,3784,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1792,begin apogee
$GC,1800,-0.31,0.0,1542,2019,3669,3788,95.1,-1.7,132,1925,0.77,0.15,120.97,0.001,10246,0.000,0.000,1669,1953,3135,3069,3201,0,0,0,0,0,0,24.18,24.18,24.12
$STATE,1926,end apogee,CONTROL_FINISHED_OK
$STATE,1926,begin climb
$GC,1930,0.84,146.0,1668,1958,3069,3181,92.6,0.0,138,2055,1.25,0.00,121.55,0.001,10246,0.000,0.000,1906,1956,2552,2499,2606,0,0,0,0,0,0,24.17,28.83,24.12
$GC,2356,0.84,146.0,1901,1963,2488,2587,66.6,5.9,160,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,1957,2544,2497,2592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2656,0.84,146.0,1899,1950,2495,2589,48.7,6.2,176,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1958,2539,2485,2594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2965,0.84,146.0,1900,1957,2485,2584,30.5,5.8,206,2967,0.00,0.00,1.10,0.000,8198,0.000,0.000,1899,1955,2544,2487,2602,0,0,0,0,0,0,28.83,28.83,24.14
$GC,3266,0.84,146.0,1893,1956,2491,2605,12.6,5.8,236,3268,0.00,0.00,0.98,0.000,8198,0.000,0.000,1900,1958,2535,2485,2586,0,0,0,0,0,0,28.83,28.83,24.14
$STATE,3466,end climb,SURFACE_DEPTH_REACHED
$STATE,3466,begin surface coast
$STATE,3503,end surface coast,CONTROL_FINISHED_OK
$STATE,3503,begin surface
$SM_CCo,3525,98.38,0.000,0,0,1910,300.74
$SM_GC,-0.01,8.02,0.17,98.38,0.000,0.000,0.000,322,2003,1910,-6.32,0.17,300.74,0,0,0,0,0,0,24.18,24.17,24.14
$RAFOS_CLK,31
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.042693,0.042693
$HUMID,64.21
$INTERNAL_PRESSURE,16.1627
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.5,0.0
$SC_FREEKB,3935872
$24V_AH,24.0,187.898
$10V_AH,10.7,71.898
$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,16.125,5.925,244.600,98.375,0.000,0.000,0.000,70.225,0.000,0.000,38.976,0.000,2151.019,245.331,1114.321,391.945,33.219,707.124,0.000,840.257,0.000,26.630,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,1937.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.014,0.000,0.000,0.000
$MEM,306868
$DATA_FILE_SIZE,6807,260
$CAP_FILE_SIZE,174801,0
$CFSIZE,260165632,237797376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,040114,174529,4806.170,-12222.157,35,1.6,42,18.0