version: 66.11
glider: 99
mission: 78
dive: 607
start: 9 23 113 20 50 10
data:
$ID,99
$MISSION,78
$DIVE,607
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$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,67
$T_MISSION,80
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$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,350
$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,-1241900.9
$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,40
$R_STBD_OVSHOOT,9
$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
$DEVICE1,133
$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,16
$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
$GPS1,230913,204106,4806.920,-12223.058,33,1.8,38,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,230913,204834,4806.984,-12223.106,36,1.8,41,18.0
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.112,-0.186
$KALMAN_X,292726.5,-114.7,-288.9,-291402.9,-81.7
$KALMAN_Y,-184895.8,139.5,111.1,183105.7,208.5
$MHEAD_RNG_PITCHd_Wd,130.9,4505,-11.0,-5.970,-15.41,3713
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,24,-0.87,-146.0,356,2060,1668,1734,0.0,0.0,0,94,0.00,0.22,-67.65,0.000,16390,0.000,0.000,356,1965,3705,3632,3778,0,0,0,0,0,0,28.83,24.16,24.18
$GC,103,-0.87,-146.0,355,1964,3626,3779,1.4,-1.1,9,115,6.05,0.00,-0.03,0.000,18438,0.000,0.000,1542,1967,3729,3655,3803,0,0,0,0,0,0,24.17,28.83,24.14
$GC,438,-0.87,-146.0,1539,1965,3642,3771,29.2,-8.3,67,444,0.00,0.00,-0.08,0.000,16390,0.000,0.000,1541,1963,3698,3618,3778,0,0,0,0,0,0,28.83,28.83,24.17
$GC,774,-0.87,-146.0,1541,1962,3639,3785,55.7,-8.4,96,779,0.00,2.78,0.00,0.000,260,0.000,0.000,1540,3482,3714,3639,3790,0,0,0,0,0,0,28.83,24.16,28.83
$GC,822,-0.87,-146.0,1558,3507,3662,3784,59.7,-8.8,98,826,0.00,2.72,0.00,0.000,1030,0.000,0.000,1540,2019,3714,3635,3793,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1140,-0.87,-146.0,1539,2026,3649,3767,87.1,-8.2,114,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,2012,3711,3634,3789,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1324,begin apogee
$GC,1333,-0.31,0.0,1539,2010,3648,3793,100.9,-7.6,123,1461,0.68,0.00,118.78,0.000,10246,0.000,0.000,1680,2013,3126,3063,3190,0,0,0,0,0,0,24.17,28.83,24.12
$STATE,1463,end apogee,CONTROL_FINISHED_OK
$STATE,1463,begin climb
$GC,1467,0.87,146.0,1678,2009,3076,3205,104.8,0.0,130,1598,1.20,0.00,122.05,0.000,10246,0.000,0.000,1916,2024,2535,2490,2580,0,0,0,0,0,0,24.16,28.83,24.11
$GC,1900,0.87,146.0,1912,2014,2477,2583,75.2,7.6,152,1905,0.00,2.70,0.00,0.000,260,0.000,0.000,1941,3390,2535,2488,2582,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1998,0.87,146.0,1915,3408,2490,2589,67.8,8.8,156,2005,0.00,2.78,0.00,0.000,1030,0.000,0.000,1913,1958,2534,2482,2586,0,0,0,0,0,0,28.83,24.16,28.83
$GC,2305,0.87,146.0,1921,1959,2490,2593,44.0,7.4,176,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,1958,2550,2489,2611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2615,0.87,146.0,1913,1958,2478,2591,22.5,6.7,210,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,1958,2532,2476,2589,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2912,end climb,SURFACE_DEPTH_REACHED
$STATE,2912,begin surface coast
$FINISH,0.4,1.189744
$STATE,2946,end surface coast,CONTROL_FINISHED_OK
$STATE,2946,begin surface
$SM_CCo,2969,130.62,0.000,0,0,1700,350.04
$SM_GC,-0.01,8.07,0.17,130.62,0.000,0.000,0.000,332,2003,1700,-6.35,0.45,350.04,0,0,0,0,0,0,24.16,24.16,24.13
$RAFOS_CLK,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.021721,0.021721
$HUMID,84.06
$INTERNAL_PRESSURE,15.9576
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,75.4,0.0
$SC_FREEKB,3688064
$24V_AH,24.1,139.259
$10V_AH,10.7,55.825
$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,16.000,11.525,240.825,130.625,0.000,0.000,0.000,110.550,0.000,0.000,43.350,784.261,1412.416,424.847,683.773,291.113,33.241,822.382,0.000,456.725,360.000,28.563,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,0.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3004.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.649,0.000,0.000,0.000
$MEM,310144
$DATA_FILE_SIZE,10168,274
$CAP_FILE_SIZE,62705,0
$CFSIZE,260165632,205910016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,230913,214342,4806.794,-12223.031,24,1.8,31,18.0