version: 66.12
glider: 99
mission: 78
dive: 138
start: 1 4 114 19 59 21
data:
$ID,99
$MISSION,78
$DIVE,138
$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,-1250059.4
$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,1
$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
$GPS1,040114,195230,4805.860,-12221.906,31,1.3,39,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,040114,195817,4805.855,-12221.907,28,1.6,35,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.083,-0.133
$KALMAN_X,17235.1,63.3,120.6,-15334.9,55.6
$KALMAN_Y,-3284.1,7.2,-172.1,4.7,-16.7
$MHEAD_RNG_PITCHd_Wd,130.2,1941,-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,-146.0,329,1967,1863,1943,0.0,0.0,0,79,0.00,0.12,-60.88,0.000,16390,0.000,0.000,329,2036,3711,3642,3780,0,0,0,0,0,0,28.83,24.18,24.19
$GC,84,-0.84,-146.0,329,2036,3644,3777,-0.0,-0.0,6,95,6.15,2.75,0.00,0.000,2564,0.000,0.000,1568,551,3707,3637,3777,0,0,0,0,0,0,24.18,24.18,28.83
$GC,375,-0.84,-146.0,1567,552,3621,3769,20.6,-5.7,35,382,0.12,2.83,-0.68,0.000,21510,0.000,0.000,1546,2057,3723,3658,3789,0,0,0,0,0,0,24.18,24.18,24.19
$GC,685,-0.84,-146.0,1544,2052,3664,3796,37.1,-5.0,66,686,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,2068,3733,3660,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,993,-0.84,-146.0,1540,2052,3640,3803,52.5,-5.2,94,994,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,2052,3722,3644,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1294,-0.84,-146.0,1541,2054,3669,3816,67.5,-4.9,109,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,2055,3708,3625,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1591,-0.84,-146.0,1543,2048,3642,3804,81.9,-4.8,124,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,2055,3734,3649,3820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1890,-0.84,-146.0,1541,2058,3633,3789,94.0,-1.8,139,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,2049,3715,3643,3788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2194,-0.84,-146.0,1542,2054,3660,3795,81.2,6.3,154,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,2051,3720,3648,3792,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2267,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2268,begin apogee
$GC,2275,-0.31,0.0,1543,1946,3641,3802,76.0,6.5,158,2401,0.68,0.25,120.93,0.001,10246,0.000,0.000,1656,2056,3148,3104,3192,0,0,0,0,0,0,24.18,24.18,24.12
$STATE,2407,end apogee,CONTROL_FINISHED_OK
$STATE,2407,begin climb
$GC,2410,0.84,146.0,1658,2045,3061,3197,68.3,0.0,164,2537,1.30,0.00,122.95,0.001,10246,0.000,0.000,1923,2043,2539,2494,2585,0,0,0,0,0,0,24.18,28.83,24.12
$GC,2835,0.84,146.0,1918,2038,2481,2583,40.3,6.2,193,2839,0.00,2.55,0.00,0.000,260,0.000,0.000,1924,3415,2531,2475,2587,0,0,0,0,0,0,28.83,24.18,28.83
$GC,2997,0.84,146.0,1919,3412,2484,2567,30.0,6.8,209,3001,0.00,2.62,0.00,0.000,1030,0.000,0.000,1921,1988,2537,2487,2587,0,0,0,0,0,0,28.83,24.18,28.83
$GC,3311,0.84,146.0,1922,1981,2489,2598,11.0,6.0,240,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,1983,2546,2506,2586,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3465,end climb,SURFACE_DEPTH_REACHED
$STATE,3465,begin surface coast
$STATE,3495,end surface coast,CONTROL_FINISHED_OK
$STATE,3495,begin surface
$SM_CCo,3520,98.72,0.000,0,0,1901,300.25
$SM_GC,-0.00,8.12,0.17,98.72,0.000,0.000,0.000,319,2063,1901,-6.34,0.40,300.25,0,0,0,0,0,0,24.18,24.18,24.14
$RAFOS_CLK,36
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.062916,0.062916
$HUMID,63.42
$INTERNAL_PRESSURE,16.1334
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.4,0.0
$SC_FREEKB,3935424
$24V_AH,24.0,187.968
$10V_AH,10.6,71.993
$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,16.375,11.750,243.875,98.725,0.000,0.000,0.000,101.225,0.000,0.000,36.990,0.000,2150.575,328.174,1056.169,407.486,33.214,752.778,0.000,805.320,0.000,21.082,0.000
$DEVICE_MAMPS,119.000,60.000,0.765,600.000,0.000,0.000,0.000,55.080,0.000,0.000,50.000,0.000,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,0.000,5.000,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,6.707,0.000,0.000,0.000
$MEM,306812
$DATA_FILE_SIZE,6814,259
$CAP_FILE_SIZE,171225,0
$CFSIZE,260165632,237645824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,040114,210035,4805.633,-12221.471,18,2.0,22,18.0