version: 66.12
glider: 99
mission: 78
dive: 172
start: 1 6 114 8 50 40
data:
$ID,99
$MISSION,78
$DIVE,172
$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,75
$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,-1250101.9
$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,35
$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
$GPS1,060114,084501,4805.861,-12221.665,19,2.0,26,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,060114,084940,4805.895,-12221.681,32,2.0,38,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.138,0.074
$KALMAN_X,21378.0,-1.5,77.8,-19088.5,5.9
$KALMAN_Y,1256.0,-357.4,-303.6,-3969.8,421.3
$MHEAD_RNG_PITCHd_Wd,280.3,4839,-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,-146.0,328,2004,1871,1944,0.0,0.0,0,84,0.00,0.00,-60.55,0.000,16390,0.000,0.000,328,2004,3715,3637,3794,0,0,0,0,0,0,28.83,28.83,24.19
$GC,88,-0.84,-146.0,329,2003,3653,3780,0.1,-0.2,6,101,6.15,2.60,0.00,0.000,2564,0.000,0.000,1558,604,3723,3644,3803,0,0,0,0,0,0,24.18,24.18,28.83
$GC,374,-0.84,-146.0,1558,605,3636,3784,20.0,-5.2,35,378,0.00,2.70,-0.05,0.000,17414,0.000,0.000,1555,2022,3717,3639,3795,0,0,0,0,0,0,28.83,24.18,24.19
$GC,693,-0.84,-146.0,1559,2021,3647,3781,35.3,-4.9,66,694,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2021,3706,3633,3779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,997,-0.84,-146.0,1558,2019,3640,3788,49.2,-4.2,96,1001,0.30,0.00,0.00,0.000,4102,0.000,0.000,1526,2023,3723,3651,3795,0,0,0,0,0,0,24.18,28.83,28.83
$GC,1317,-0.84,-146.0,1525,2022,3632,3783,63.7,-4.6,113,1318,0.00,0.00,-0.30,0.000,16390,0.000,0.000,1525,2027,3721,3647,3796,0,0,0,0,0,0,28.83,28.83,24.19
$GC,1613,-0.84,-146.0,1524,2010,3637,3796,77.3,-4.6,128,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,2023,3721,3639,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1917,-0.84,-146.0,1523,2025,3639,3809,91.3,-4.8,143,1921,0.00,2.58,0.00,0.000,516,0.000,0.000,1523,615,3729,3642,3816,0,0,0,0,0,0,28.83,24.18,28.83
$STATE,2034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2034,begin apogee
$GC,2044,-0.31,0.0,1524,2028,3640,3805,95.3,-2.6,149,2169,0.75,0.05,120.47,0.001,10246,0.000,0.000,1679,1956,3133,3078,3189,0,0,0,0,0,0,24.18,24.18,24.13
$STATE,2175,end apogee,CONTROL_FINISHED_OK
$STATE,2175,begin climb
$GC,2178,0.84,146.0,1681,1945,3065,3185,92.6,0.0,155,2304,1.15,0.00,122.18,0.001,10502,0.000,0.000,1905,1940,2525,2475,2576,0,0,0,0,0,0,24.18,28.83,24.12
$GC,2594,0.84,146.0,1905,1945,2489,2581,68.6,5.3,176,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,1947,2540,2487,2593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2893,0.84,147.7,1905,1942,2497,2599,53.4,5.0,191,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,1948,2534,2483,2585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3192,0.85,155.8,1902,1941,2482,2578,38.5,4.8,217,3203,0.00,0.00,9.80,0.001,8198,0.000,0.000,1896,1939,2502,2448,2557,0,0,0,0,0,0,28.83,28.83,24.13
$GC,3511,0.86,160.9,1902,1947,2451,2540,23.3,4.9,248,3518,0.00,0.00,6.12,0.000,8198,0.000,0.000,1908,1956,2470,2421,2519,0,0,0,0,0,0,28.83,28.83,24.13
$GC,3825,0.86,163.2,1904,1946,2428,2518,8.6,5.0,279,3852,0.00,0.00,14.73,0.000,8198,0.000,0.000,1901,1947,2480,2426,2534,0,0,0,0,1,0,28.83,28.83,24.15
$STATE,3972,end climb,SURFACE_DEPTH_REACHED
$STATE,3972,begin surface coast
$STATE,4021,end surface coast,CONTROL_FINISHED_OK
$STATE,4021,begin surface
$SM_CCo,4044,88.43,0.000,0,0,1909,300.25
$SM_GC,-0.00,8.05,0.25,88.43,0.000,0.000,0.000,324,2039,1909,-6.34,0.99,300.25,0,0,0,0,0,0,24.18,24.18,24.14
$RAFOS_CLK,33
$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,61.97
$INTERNAL_PRESSURE,16.0748
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.1,0.0
$SC_FREEKB,3930816
$24V_AH,24.0,188.628
$10V_AH,10.6,73.042
$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,16.400,10.900,273.300,88.425,0.000,0.000,0.000,70.625,0.000,0.000,39.011,0.000,2519.363,380.435,1096.704,411.657,33.213,778.553,0.000,899.703,0.000,23.851,0.000
$DEVICE_MAMPS,119.000,60.000,0.765,600.000,0.000,0.000,0.000,55.845,0.000,0.000,50.000,0.000,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.876,0.000,0.000,0.000
$MEM,306908
$DATA_FILE_SIZE,10107,299
$CAP_FILE_SIZE,178810,0
$CFSIZE,260165632,235888640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$GPS,060114,100046,4806.151,-12222.118,34,1.8,40,18.0