version: 66.12
glider: 99
mission: 78
dive: 238
start: 1 9 114 9 23 37
data:
$ID,99
$MISSION,78
$DIVE,238
$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,-1250184.4
$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,37
$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
$GPS1,090114,091810,4805.683,-12221.524,29,1.6,36,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,090114,092233,4805.645,-12221.515,12,1.8,18,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.050,-0.149
$KALMAN_X,28551.4,255.0,125.7,-26365.5,352.7
$KALMAN_Y,5407.6,389.7,-357.6,-9275.5,257.9
$MHEAD_RNG_PITCHd_Wd,180.7,1354,-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,-146.0,338,1966,1870,1943,0.0,0.0,0,80,0.00,0.20,-60.38,0.000,16390,0.000,0.000,339,2080,3703,3633,3773,0,0,0,0,0,0,28.83,24.18,24.19
$GC,84,-0.84,-146.0,338,2079,3636,3786,0.2,-0.7,6,100,6.03,2.60,-0.12,0.000,18692,0.000,0.000,1560,3465,3725,3652,3798,0,0,0,0,0,0,24.18,24.18,24.19
$GC,200,-0.84,-146.0,1560,3477,3636,3783,12.4,-7.3,17,205,0.20,2.75,0.00,0.000,5126,0.000,0.000,1519,1980,3717,3659,3775,0,0,0,0,0,0,24.18,24.18,28.83
$GC,514,-0.84,-146.0,1519,1994,3635,3788,33.5,-6.5,48,517,0.00,2.70,0.00,0.000,516,0.000,0.000,1517,541,3708,3625,3791,0,0,0,0,0,0,28.83,24.18,28.83
$GC,801,-0.84,-146.0,1519,540,3626,3794,51.1,-5.9,75,805,0.00,2.72,0.00,0.000,1030,0.000,0.000,1517,2001,3722,3656,3788,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1125,-0.84,-146.0,1520,2006,3645,3781,71.1,-6.3,91,1129,0.00,2.55,-0.05,0.000,16900,0.000,0.000,1520,573,3705,3626,3784,0,0,0,0,0,0,28.83,24.18,24.18
$GC,1415,-0.84,-146.0,1519,573,3639,3775,89.4,-6.1,105,1419,0.00,2.75,0.00,0.000,1030,0.000,0.000,1517,2021,3710,3631,3790,0,0,0,0,0,0,28.83,24.18,28.83
$STATE,1551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1551,begin apogee
$GC,1558,-0.31,0.0,1517,1920,3633,3786,95.1,-3.0,112,1682,0.77,0.25,118.03,0.001,10246,0.000,0.000,1681,2009,3148,3074,3222,0,0,0,0,0,0,24.17,24.18,24.13
$STATE,1688,end apogee,CONTROL_FINISHED_OK
$STATE,1688,begin climb
$GC,1691,0.84,146.0,1678,2014,3064,3196,93.4,0.0,118,1823,1.15,2.70,122.15,0.001,10500,0.000,0.000,1914,3473,2536,2486,2586,0,0,0,0,0,0,24.18,24.18,24.12
$GC,2095,0.84,146.0,1914,3457,2500,2579,64.4,6.9,139,2099,0.00,2.70,0.00,0.000,1030,0.000,0.000,1910,2002,2531,2479,2583,0,0,0,0,0,0,28.83,24.18,28.83
$GC,2401,0.84,146.0,1913,2003,2485,2582,43.7,6.8,159,2410,0.00,2.72,1.17,0.000,8452,0.000,0.000,1915,3468,2532,2486,2579,0,0,0,0,0,0,28.83,24.18,24.14
$GC,2697,0.84,146.0,1912,3470,2480,2599,24.4,6.7,187,2704,0.00,2.70,0.00,0.000,1030,0.000,0.000,1913,1980,2541,2492,2591,0,0,0,0,0,0,28.83,24.18,28.83
$GC,3007,0.84,146.0,1918,1988,2477,2580,4.4,6.6,218,3014,0.08,2.55,0.00,0.000,4356,0.000,0.000,1896,3416,2535,2491,2580,0,0,0,0,0,0,24.16,24.18,28.83
$STATE,3046,end climb,SURFACE_DEPTH_REACHED
$STATE,3046,begin surface coast
$FINISH,0.7,0.000000
$STATE,3076,end surface coast,CONTROL_FINISHED_OK
$STATE,3077,begin surface
$SM_CCo,3099,98.85,0.000,0,0,1903,300.74
$SM_GC,-0.01,7.85,2.72,98.85,0.000,0.000,0.000,334,1937,1903,-6.27,0.17,300.74,0,0,0,0,0,0,24.18,24.18,24.14
$RAFOS_CLK,12
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.043442,0.043442
$HUMID,66.34
$INTERNAL_PRESSURE,15.899
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,71.1,0.0
$SC_FREEKB,3922240
$24V_AH,24.0,189.956
$10V_AH,10.6,75.093
$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,16.075,32.950,241.350,98.850,0.000,0.000,0.000,71.750,0.000,0.000,19.144,0.000,1718.959,355.229,1010.034,378.797,33.202,794.843,0.000,822.390,0.000,23.863,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,1406.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.028,0.000,0.000,0.000
$MEM,306884
$DATA_FILE_SIZE,6814,224
$CAP_FILE_SIZE,157562,0
$CFSIZE,260165632,232534016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,090114,101812,4805.442,-12221.208,35,1.8,43,18.0