version: 66.11
glider: 99
mission: 78
dive: 661
start: 9 26 113 5 43 30
data:
$ID,99
$MISSION,78
$DIVE,661
$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,400
$N_FILEKB,8
$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,-1241968.4
$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,9
$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
$DEVICE1,133
$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
$GPS1,260913,053501,4806.345,-12222.266,24,2.0,29,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,260913,054151,4806.380,-12222.278,12,2.0,19,18.0
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.104,-0.190
$KALMAN_X,286706.3,139.2,-123.8,-284779.5,2.5
$KALMAN_Y,-180286.1,-61.7,-12.8,177704.6,68.1
$MHEAD_RNG_PITCHd_Wd,133.3,3006,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.87,-146.0,333,2025,1467,1526,0.0,0.0,0,102,0.00,0.25,-73.88,0.000,16390,0.000,0.000,333,1970,3720,3648,3792,0,0,0,0,0,0,28.83,24.16,24.18
$GC,111,-0.87,-146.0,333,1970,3637,3790,1.5,-1.3,15,122,6.15,0.00,0.00,0.000,2054,0.000,0.000,1530,1967,3714,3651,3777,0,0,0,0,0,0,24.17,28.83,28.83
$GC,436,-0.87,-146.0,1528,1967,3637,3792,29.8,-8.8,73,438,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,1974,3705,3628,3782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,737,-0.87,-146.0,1529,1964,3635,3780,55.6,-8.4,100,738,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,1966,3715,3639,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1042,-0.87,-146.0,1528,1976,3639,3771,81.2,-8.3,115,1044,0.00,0.00,-0.22,0.000,16390,0.000,0.000,1528,1976,3711,3635,3787,0,0,0,0,0,0,28.83,28.83,24.18
$STATE,1277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1277,begin apogee
$GC,1287,-0.31,0.0,1528,2045,3655,3783,100.8,-7.9,127,1418,0.60,0.20,119.22,0.000,10246,0.000,0.000,1649,1978,3133,3069,3198,0,0,0,0,0,0,24.17,24.16,24.12
$STATE,1419,end apogee,CONTROL_FINISHED_OK
$STATE,1420,begin climb
$GC,1423,0.87,146.0,1649,1972,3075,3186,109.0,0.0,134,1559,1.45,2.75,121.62,0.000,10500,0.000,0.000,1935,3423,2539,2488,2590,0,0,0,0,0,0,24.17,24.16,24.12
$GC,1667,0.87,146.0,1937,3442,2486,2583,100.7,7.5,146,1673,0.28,2.78,0.05,0.000,13318,0.000,0.000,1902,1921,2537,2499,2576,0,0,0,0,0,0,24.16,24.16,24.13
$GC,1992,0.87,146.0,1902,1921,2488,2588,76.7,7.5,162,1994,0.00,0.00,0.12,0.000,8198,0.000,0.000,1904,1926,2537,2488,2586,0,0,0,0,0,0,28.83,28.83,24.13
$GC,2292,0.87,146.0,1899,1927,2479,2581,54.6,7.3,177,2297,0.00,2.75,0.00,0.000,260,0.000,0.000,1896,3405,2536,2487,2586,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2389,0.87,146.0,1898,3405,2488,2590,47.9,7.1,183,2396,0.00,2.72,0.00,0.000,1030,0.000,0.000,1902,1958,2536,2485,2588,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2697,0.87,146.0,1904,1955,2498,2586,26.1,7.3,214,2704,0.00,0.00,1.20,0.000,8198,0.000,0.000,1904,1959,2536,2486,2586,0,0,0,0,0,0,28.83,28.83,24.13
$GC,3016,0.98,234.7,1902,1958,2479,2584,6.4,3.5,274,3108,0.15,2.75,72.88,0.000,10500,0.000,0.000,1938,3415,2174,2135,2214,0,0,0,0,1,0,24.16,24.17,24.11
$STATE,3113,end climb,SURFACE_DEPTH_REACHED
$STATE,3113,begin surface coast
$FINISH,0.3,1.185805
$STATE,3144,end surface coast,CONTROL_FINISHED_OK
$STATE,3144,begin surface
$SM_CCo,3171,105.35,0.000,0,0,1495,400.08
$SM_GC,-0.01,8.25,2.85,105.35,0.000,0.000,0.000,326,1898,1495,-6.38,0.08,400.08,0,0,0,0,0,0,24.16,24.17,24.13
$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,82.17
$INTERNAL_PRESSURE,16.026
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,76.2,0.0
$SC_FREEKB,3669600
$24V_AH,24.1,145.956
$10V_AH,10.7,57.442
$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,16.875,17.525,315.100,105.350,0.000,0.000,0.000,102.000,0.000,0.000,20.491,788.690,1501.560,473.696,677.556,293.496,33.245,884.080,0.000,503.375,0.000,27.726,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,0.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3198.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.597,0.000,0.000,0.000
$MEM,310220
$DATA_FILE_SIZE,10154,298
$CAP_FILE_SIZE,64570,0
$CFSIZE,260165632,202878976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$GPS,260913,064005,4806.010,-12222.021,34,2.0,39,18.0