version: 66.12
glider: 99
mission: 78
dive: 141
start: 1 4 114 23 21 30
data:
$ID,99
$MISSION,78
$DIVE,141
$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,-1250063.1
$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,8
$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
$GPS1,040114,231550,4805.036,-12221.164,17,1.8,25,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,040114,232026,4805.053,-12221.186,30,1.6,36,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.041,-0.053
$KALMAN_X,17719.5,25.0,-11.3,-14755.8,71.8
$KALMAN_Y,-3113.9,-173.2,12.6,-1656.1,100.7
$MHEAD_RNG_PITCHd_Wd,124.1,250,-33.7,-5.026,-36.85,597
$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,16,-2.13,-19.9,357,1995,1873,1956,0.0,0.0,0,66,0.00,0.00,-43.25,0.000,16390,0.000,0.000,357,2000,3195,3126,3264,0,0,0,0,0,0,28.83,28.83,24.18
$GC,73,-2.17,-49.2,358,2003,3135,3262,-0.0,0.0,5,89,4.53,2.67,-3.88,0.000,18692,0.000,0.000,1267,3417,3322,3257,3388,0,0,0,0,0,0,24.18,24.18,24.19
$GC,361,-2.17,-49.2,1265,3424,3241,3390,20.5,-6.3,34,370,0.00,2.75,-0.20,0.000,17414,0.000,0.000,1266,1964,3309,3238,3380,0,0,0,0,0,0,28.83,24.18,24.19
$GC,674,-2.17,-49.2,1266,1966,3238,3378,38.9,-5.9,65,683,0.00,2.75,-0.25,0.000,16644,0.000,0.000,1268,3465,3317,3254,3380,0,0,0,0,0,0,28.83,24.18,24.19
$GC,958,-2.17,-50.5,1265,3438,3257,3382,53.8,-4.8,90,962,0.00,2.70,0.00,0.000,1030,0.000,0.000,1266,1986,3312,3247,3377,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1278,-2.17,-51.2,1266,1996,3257,3379,69.2,-4.9,106,1280,0.00,0.00,-0.75,0.000,16390,0.000,0.000,1263,1992,3337,3270,3405,0,0,0,0,0,0,28.83,28.83,24.19
$GC,1581,-2.17,-53.4,1266,1992,3279,3390,84.1,-4.6,121,1585,0.00,2.72,0.00,0.000,516,0.000,0.000,1267,498,3337,3263,3412,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1866,-2.20,-79.0,1267,499,3266,3399,92.9,-0.6,134,1874,0.15,2.83,-3.28,0.000,21510,0.000,0.000,1216,2047,3436,3361,3511,0,0,0,0,0,0,24.18,24.18,24.19
$GC,2192,-2.28,-146.0,1218,2049,3366,3498,59.3,10.3,151,2205,0.00,0.00,-9.60,0.000,16390,0.000,0.000,1218,2056,3738,3673,3804,0,0,0,0,0,0,28.83,28.83,24.19
$STATE,2265,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2265,begin apogee
$GC,2273,-0.31,0.0,1219,2003,3655,3787,51.1,10.3,155,2399,2.22,0.03,120.38,0.001,10246,0.000,0.003,1647,2000,3141,3087,3195,0,0,0,0,0,0,24.18,24.18,24.12
$STATE,2405,end apogee,CONTROL_FINISHED_OK
$STATE,2405,begin climb
$GC,2408,2.28,146.0,1647,2003,3067,3193,38.3,0.0,167,2541,2.88,2.60,121.15,0.001,10500,0.000,0.000,2210,3398,2538,2490,2586,0,0,0,0,0,0,24.18,24.18,24.13
$GC,2747,2.28,146.0,2205,3400,2494,2590,7.3,8.0,201,2753,0.00,2.70,0.47,0.000,9222,0.000,0.000,2232,1981,2546,2492,2600,0,0,0,0,0,0,28.83,24.18,24.14
$STATE,2819,end climb,SURFACE_DEPTH_REACHED
$STATE,2819,begin surface coast
$FINISH,1.0,-1.142657
$STATE,2850,end surface coast,CONTROL_FINISHED_OK
$STATE,2850,begin surface
$SM_CCo,2875,98.90,0.000,0,0,1906,300.00
$SM_GC,1.28,9.50,0.00,98.90,0.000,0.000,0.000,358,1977,1906,-6.27,-0.51,300.00,0,0,0,0,0,0,24.18,28.83,24.14
$RAFOS_CLK,57
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.060669,0.060669
$HUMID,62.95
$INTERNAL_PRESSURE,16.1432
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.3,0.0
$SC_FREEKB,3934976
$24V_AH,24.0,188.023
$10V_AH,10.6,72.081
$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,19.275,21.950,242.000,98.900,0.000,0.000,0.000,70.550,0.000,0.000,36.973,0.000,1778.750,369.338,799.617,303.397,33.215,755.775,0.000,567.800,0.000,23.847,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,465.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.085,0.000,0.000,0.000
$MEM,306804
$DATA_FILE_SIZE,6822,212
$CAP_FILE_SIZE,107990,0
$CFSIZE,260165632,237555712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,050114,001214,4805.027,-12221.179,33,2.0,37,18.0