version: 66.12
glider: 99
mission: 78
dive: 197
start: 1 7 114 13 51 39
data:
$ID,99
$MISSION,78
$DIVE,197
$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,-1250133.1
$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,2
$R_STBD_OVSHOOT,6
$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
$GPS1,070114,134559,4807.676,-12223.678,13,1.4,18,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,070114,135035,4807.705,-12223.682,27,1.9,35,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.099,0.101
$KALMAN_X,23765.2,-224.8,-31.5,-23619.1,-17.4
$KALMAN_Y,3904.8,205.5,190.6,-4320.9,163.9
$MHEAD_RNG_PITCHd_Wd,297.5,674,-13.3,-5.026,-19.51,2770
$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,-0.96,-106.3,331,2019,1868,1950,0.0,0.0,0,81,0.00,0.08,-55.12,0.000,16390,0.000,0.000,330,1941,3561,3483,3639,0,0,0,0,0,0,28.83,24.18,24.19
$GC,85,-1.01,-146.0,331,1937,3491,3615,0.3,-0.8,6,102,5.95,2.58,-5.40,0.000,18948,0.000,0.000,1520,548,3719,3648,3790,0,0,0,0,0,0,24.18,24.18,24.19
$GC,374,-1.01,-146.0,1519,549,3638,3799,22.4,-6.0,35,378,0.00,2.78,-0.08,0.000,17414,0.000,0.000,1520,2033,3721,3656,3787,0,0,0,0,0,0,28.83,24.18,24.19
$GC,689,-1.01,-146.0,1524,2036,3637,3804,40.3,-4.5,66,693,0.00,2.60,0.00,0.000,260,0.000,0.000,1521,3461,3718,3648,3788,0,0,0,0,0,0,28.83,24.18,28.83
$GC,818,-1.01,-146.0,1521,3450,3654,3787,46.4,-4.7,78,822,0.00,2.83,0.00,0.000,1030,0.000,0.000,1520,1910,3716,3647,3786,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1125,-1.01,-146.0,1520,1913,3648,3788,63.2,-5.5,97,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,1513,1919,3715,3638,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1426,-1.01,-146.0,1519,1912,3648,3804,79.1,-5.2,112,1428,0.00,0.00,-0.05,0.000,16390,0.000,0.000,1517,1914,3724,3638,3810,0,0,0,0,0,0,28.83,28.83,24.15
$GC,1729,-1.01,-146.0,1519,1907,3658,3776,93.9,-4.5,127,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,1911,3729,3649,3809,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1822,begin apogee
$GC,1832,-0.31,0.0,1521,2011,3655,3793,95.1,-0.9,132,1956,0.77,0.08,119.72,0.001,10246,0.000,0.000,1666,1990,3128,3072,3185,0,0,0,0,0,0,24.18,24.18,24.12
$STATE,1962,end apogee,CONTROL_FINISHED_OK
$STATE,1962,begin climb
$GC,1966,1.01,146.0,1663,1981,3070,3184,90.1,0.0,138,2094,1.60,0.00,121.22,0.000,10246,0.000,0.000,1940,1985,2543,2491,2595,0,0,0,0,0,0,24.17,28.83,24.12
$GC,2381,1.01,146.0,1941,1982,2493,2596,61.6,6.5,159,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,1997,2546,2497,2596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2684,1.01,146.0,1945,1981,2492,2595,42.8,6.3,179,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,1989,2545,2498,2592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2992,1.01,146.0,1944,1981,2493,2590,24.6,5.5,210,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,1985,2536,2481,2592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3301,1.01,146.0,1959,1985,2490,2585,7.6,5.1,240,3307,0.00,0.00,3.05,0.000,8198,0.000,0.000,1942,1982,2540,2491,2589,0,0,0,0,0,0,28.83,28.83,24.14
$STATE,3431,end climb,SURFACE_DEPTH_REACHED
$STATE,3431,begin surface coast
$STATE,3482,end surface coast,CONTROL_FINISHED_OK
$STATE,3482,begin surface
$SM_CCo,3504,98.25,0.000,0,0,1909,300.25
$SM_GC,-0.01,8.12,0.03,98.25,0.000,0.001,0.000,324,2014,1909,-6.33,-0.06,300.25,0,0,0,0,0,0,24.17,24.16,24.14
$RAFOS_CLK,19
$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,64.72
$INTERNAL_PRESSURE,15.9576
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.7,0.0
$SC_FREEKB,3927616
$24V_AH,24.0,189.044
$10V_AH,10.6,73.829
$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,16.450,11.375,244.000,98.250,0.000,0.000,0.000,69.425,0.000,0.000,36.880,0.000,2181.074,380.812,948.904,367.647,33.227,724.545,0.000,739.138,0.000,23.851,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,20.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.638,0.000,0.000,0.000
$MEM,306776
$DATA_FILE_SIZE,6801,258
$CAP_FILE_SIZE,148981,0
$CFSIZE,260165632,234618880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,070114,145250,4808.008,-12223.990,27,2.0,35,18.0