version: 66.12
glider: 99
mission: 78
dive: 152
start: 1 5 114 10 42 40
data:
$ID,99
$MISSION,78
$DIVE,152
$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,-1250076.9
$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,5
$R_STBD_OVSHOOT,4
$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
$GPS1,050114,103719,4806.671,-12222.609,36,1.7,45,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,050114,104136,4806.711,-12222.607,7,1.6,13,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.136,0.078
$KALMAN_X,18454.7,-134.4,43.1,-17147.5,14.8
$KALMAN_Y,-1306.8,170.6,-118.6,-606.3,399.2
$MHEAD_RNG_PITCHd_Wd,281.8,2943,-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,-146.0,349,1965,1870,1947,0.0,0.0,0,80,0.00,0.12,-60.75,0.000,16390,0.000,0.000,348,2038,3715,3648,3782,0,0,0,0,0,0,28.83,24.18,24.19
$GC,84,-0.84,-146.0,350,2024,3644,3783,-0.0,-0.0,6,100,6.03,2.70,0.00,0.000,2564,0.000,0.000,1542,533,3713,3645,3782,0,0,0,0,0,0,24.18,24.18,28.83
$GC,371,-0.84,-146.0,1551,532,3648,3793,23.0,-5.7,33,375,0.00,2.80,0.00,0.000,1030,0.000,0.000,1540,2070,3722,3636,3809,0,0,0,0,0,0,28.83,24.18,28.83
$GC,683,-0.84,-146.0,1541,2071,3658,3800,39.9,-5.1,65,685,0.00,0.00,-0.05,0.000,16390,0.000,0.000,1544,2060,3714,3647,3782,0,0,0,0,0,0,28.83,28.83,24.17
$GC,983,-0.84,-146.0,1542,2053,3655,3790,55.4,-5.3,90,984,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,2066,3711,3637,3785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1288,-0.84,-146.0,1542,2070,3647,3792,70.9,-5.1,105,1290,0.00,0.00,-0.15,0.000,16390,0.000,0.000,1540,2066,3713,3638,3789,0,0,0,0,0,0,28.83,28.83,24.18
$GC,1586,-0.84,-146.0,1540,2075,3644,3794,86.2,-5.1,120,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,2063,3718,3646,3790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1883,-0.84,-146.0,1541,2068,3633,3788,93.8,0.9,135,1898,0.00,2.53,0.00,0.000,260,0.000,0.000,1541,3454,3718,3646,3790,0,0,0,0,0,0,28.83,24.18,28.83
$GC,2169,-0.84,-146.0,1539,3450,3659,3781,78.1,6.2,148,2173,0.00,2.78,0.00,0.000,1030,0.000,0.000,1542,1922,3716,3634,3799,0,0,0,0,0,0,28.83,24.18,28.83
$STATE,2268,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2268,begin apogee
$GC,2276,-0.31,0.0,1540,2019,3641,3787,71.2,5.9,154,2398,0.65,0.17,119.00,0.001,10246,0.000,0.000,1650,1939,3146,3085,3207,0,0,0,0,0,0,24.18,24.18,24.12
$STATE,2404,end apogee,CONTROL_FINISHED_OK
$STATE,2404,begin climb
$GC,2408,0.84,146.0,1649,1936,3078,3205,64.2,0.0,160,2534,1.35,0.00,122.97,0.001,10246,0.000,0.000,1899,1934,2530,2480,2581,0,0,0,0,0,0,24.17,28.83,24.13
$GC,2833,0.84,146.0,1897,1930,2497,2580,38.8,5.3,191,2837,0.00,2.60,0.00,0.000,516,0.000,0.000,1895,540,2532,2485,2580,0,0,0,0,0,0,28.83,24.17,28.83
$GC,3113,0.84,146.0,1899,540,2484,2578,24.3,5.1,218,3119,0.00,2.75,0.90,0.000,9222,0.000,0.000,1898,2007,2532,2481,2583,0,0,0,0,0,0,28.83,24.18,24.14
$GC,3430,0.84,146.0,1920,2011,2478,2588,8.1,5.2,250,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,2008,2528,2475,2582,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3576,end climb,SURFACE_DEPTH_REACHED
$STATE,3576,begin surface coast
$STATE,3636,end surface coast,CONTROL_FINISHED_OK
$STATE,3636,begin surface
$SM_CCo,3659,97.78,0.000,0,0,1912,300.00
$SM_GC,-0.01,8.02,0.12,97.78,0.000,0.000,0.000,350,1969,1912,-6.30,0.11,300.00,0,0,0,0,0,0,24.18,24.17,24.14
$RAFOS_CLK,37
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.043442,0.043442
$HUMID,63.34
$INTERNAL_PRESSURE,16.1725
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.9,0.0
$SC_FREEKB,3933504
$24V_AH,24.0,188.239
$10V_AH,10.5,72.421
$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,16.050,17.200,242.875,97.775,0.000,0.000,0.000,71.500,0.000,0.000,15.233,0.000,2199.079,347.041,1062.850,405.179,33.211,780.370,0.000,875.571,0.000,27.065,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,22.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.461,0.000,0.000,0.000
$MEM,306856
$DATA_FILE_SIZE,6819,271
$CAP_FILE_SIZE,177974,0
$CFSIZE,260165632,236929024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,050114,114632,4807.101,-12222.998,36,1.7,42,18.0