version: 66.12
glider: 99
mission: 78
dive: 140
start: 1 4 114 22 13 34
data:
$ID,99
$MISSION,78
$DIVE,140
$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,-1250061.9
$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,13
$R_STBD_OVSHOOT,5
$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
$GPS1,040114,220750,4805.342,-12221.242,11,1.9,17,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,040114,221230,4805.344,-12221.250,34,1.7,42,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.031,-0.154
$KALMAN_X,17774.5,-15.1,6.3,-14870.2,124.0
$KALMAN_Y,-3099.9,-132.6,-84.8,-1073.9,83.1
$MHEAD_RNG_PITCHd_Wd,150.6,709,-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,-146.0,322,2014,1874,1946,0.0,0.0,0,79,0.00,0.17,-60.53,0.000,16390,0.000,0.000,322,1924,3702,3625,3779,0,0,0,0,0,0,28.83,24.18,24.19
$GC,83,-0.84,-146.0,323,1925,3624,3768,-0.0,0.0,6,98,6.15,2.53,-0.38,0.000,18948,0.000,0.000,1526,591,3737,3672,3802,0,0,0,0,0,0,24.18,24.18,24.19
$GC,222,-0.84,-146.0,1531,593,3630,3786,12.5,-5.6,20,226,0.00,2.60,0.00,0.000,1030,0.000,0.000,1526,2013,3730,3663,3797,0,0,0,0,0,0,28.83,24.18,28.83
$GC,537,-0.84,-146.0,1528,2007,3639,3782,30.3,-5.4,51,541,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,2005,3718,3631,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,847,-0.84,-146.0,1531,2007,3648,3800,45.9,-5.2,82,851,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,2012,3715,3631,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1165,-0.84,-146.0,1538,2011,3635,3788,62.8,-5.4,102,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,2008,3719,3647,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1467,-0.84,-146.0,1529,2012,3663,3787,78.6,-5.2,117,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,2011,3710,3639,3781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1764,-0.84,-146.0,1532,2007,3650,3807,93.2,-4.8,132,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,2009,3720,3643,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2063,-0.84,-146.0,1530,2002,3647,3782,86.2,6.2,147,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,2008,3717,3652,3782,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2260,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2260,begin apogee
$GC,2268,-0.31,0.0,1524,2010,3654,3797,73.9,6.2,157,2390,0.75,0.08,118.00,0.001,10246,0.000,0.000,1660,1948,3138,3082,3194,0,0,0,0,0,0,24.18,24.18,24.12
$STATE,2396,end apogee,CONTROL_FINISHED_OK
$STATE,2396,begin climb
$GC,2399,0.84,146.0,1659,1950,3070,3191,66.7,0.0,163,2526,1.33,0.00,123.00,0.001,10246,0.000,0.000,1902,1961,2537,2485,2589,0,0,0,0,0,0,24.18,28.83,24.12
$GC,2826,0.84,146.0,1897,1955,2477,2578,39.6,5.8,193,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,1952,2543,2478,2609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3127,0.84,146.0,1897,1935,2492,2592,22.5,6.0,223,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,1942,2538,2495,2581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3430,0.84,146.0,1897,1952,2486,2604,6.2,5.8,253,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1952,2534,2483,2585,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3517,end climb,SURFACE_DEPTH_REACHED
$STATE,3517,begin surface coast
$STATE,3554,end surface coast,CONTROL_FINISHED_OK
$STATE,3554,begin surface
$SM_CCo,3579,97.80,0.000,0,0,1910,300.00
$SM_GC,-0.00,7.95,0.17,97.80,0.000,0.000,0.000,357,1999,1910,-6.27,0.00,300.00,0,0,0,0,0,0,24.18,24.17,24.15
$RAFOS_CLK,34
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.044191,0.044191
$HUMID,63.46
$INTERNAL_PRESSURE,16.1432
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.3,0.0
$SC_FREEKB,3935168
$24V_AH,24.0,188.004
$10V_AH,10.5,72.055
$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,16.175,5.775,241.000,97.800,0.000,0.000,0.000,70.350,0.000,0.000,43.341,0.000,2221.840,329.954,1020.420,387.164,33.214,703.273,0.000,811.690,0.000,26.653,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,21.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.500,0.000,0.000,0.000
$MEM,306836
$DATA_FILE_SIZE,6829,266
$CAP_FILE_SIZE,167066,0
$CFSIZE,260165632,237547520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,040114,231550,4805.036,-12221.164,17,1.8,25,18.0