version: 66.12
glider: 99
mission: 78
dive: 156
start: 1 5 114 15 1 46
data:
$ID,99
$MISSION,78
$DIVE,156
$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,-1250081.9
$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,6
$R_STBD_OVSHOOT,9
$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
$GPS1,050114,145617,4808.006,-12224.076,35,2.0,42,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,050114,150042,4808.003,-12224.064,23,2.0,29,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.045,-0.150
$KALMAN_X,18552.8,39.7,-136.8,-19037.9,76.3
$KALMAN_Y,-339.2,284.6,254.2,331.9,203.5
$MHEAD_RNG_PITCHd_Wd,145.2,6731,-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,16,-0.84,-146.0,348,1994,1884,1942,0.0,0.0,0,83,0.00,0.00,-60.47,0.000,16390,0.000,0.000,348,1989,3712,3643,3781,0,0,0,0,0,0,28.83,28.83,24.19
$GC,87,-0.84,-146.0,349,1998,3652,3791,-0.0,0.0,6,100,6.00,2.78,0.00,0.000,2308,0.000,0.000,1533,3449,3714,3635,3793,0,0,0,0,0,0,24.18,24.18,28.83
$GC,372,-0.84,-146.0,1532,3465,3647,3784,18.9,-5.4,35,376,0.00,2.80,0.00,0.000,1030,0.000,0.000,1532,1994,3738,3679,3798,0,0,0,0,0,0,28.83,24.18,28.83
$GC,686,-0.84,-146.0,1536,1988,3645,3786,35.2,-5.0,66,691,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,1978,3722,3659,3785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1000,-0.84,-146.0,1532,1985,3621,3778,52.1,-5.2,95,1001,0.00,0.00,-0.12,0.000,16390,0.000,0.000,1536,1984,3717,3641,3793,0,0,0,0,0,0,28.83,28.83,24.18
$GC,1301,-0.84,-146.0,1533,1986,3634,3784,67.2,-4.9,110,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,1988,3723,3660,3787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1602,-0.84,-146.0,1531,1987,3654,3795,82.6,-5.2,125,1606,0.00,2.70,0.00,0.000,516,0.000,0.000,1535,531,3729,3648,3810,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1894,-0.84,-146.0,1534,532,3641,3785,94.5,-1.7,139,1899,0.00,2.78,0.00,0.000,1030,0.000,0.000,1531,2021,3726,3658,3794,0,0,0,0,0,0,28.83,24.18,28.83
$GC,2218,-0.84,-146.0,1532,1997,3637,3795,79.4,6.4,155,2222,0.00,2.67,0.00,0.000,516,0.000,0.000,1534,491,3712,3636,3788,0,0,0,0,0,0,28.83,24.18,28.83
$STATE,2268,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2268,begin apogee
$GC,2279,-0.31,0.0,1531,1996,3637,3797,75.9,6.2,158,2402,0.65,0.05,119.40,0.001,10246,0.000,0.000,1643,2079,3137,3080,3195,0,0,0,0,0,0,24.18,24.18,24.13
$STATE,2408,end apogee,CONTROL_FINISHED_OK
$STATE,2408,begin climb
$GC,2412,0.84,146.0,1643,2080,3067,3205,69.2,0.0,164,2549,1.38,2.38,121.62,0.001,10500,0.000,0.000,1916,3390,2537,2488,2586,0,0,0,0,0,0,24.18,24.18,24.13
$GC,2825,0.84,146.0,1914,3421,2481,2576,42.2,6.2,189,2831,0.00,2.58,0.00,0.000,1030,0.000,0.000,1913,1964,2534,2490,2579,0,0,0,0,0,0,28.83,24.18,28.83
$GC,3133,0.84,146.0,1915,1960,2482,2582,23.8,5.6,220,3139,0.00,2.67,0.00,0.000,260,0.000,0.000,1912,3468,2537,2488,2586,0,0,0,0,0,0,28.83,24.18,28.83
$GC,3430,0.84,146.0,1915,3476,2481,2588,7.1,5.7,248,3449,0.00,2.70,0.00,0.000,1030,0.000,0.000,1922,1994,2534,2485,2584,0,0,0,0,0,0,28.83,24.18,28.83
$STATE,3532,end climb,SURFACE_DEPTH_REACHED
$STATE,3533,begin surface coast
$FINISH,0.2,0.000000
$STATE,3586,end surface coast,CONTROL_FINISHED_OK
$STATE,3586,begin surface
$SM_CCo,3606,97.97,0.000,0,0,1907,300.00
$SM_GC,-0.00,8.00,0.12,97.97,0.000,0.000,0.000,349,2036,1907,-6.31,1.07,300.00,0,0,0,0,0,0,24.18,24.17,24.14
$RAFOS_CLK,16
$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,63.50
$INTERNAL_PRESSURE,16.1627
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.2,0.0
$SC_FREEKB,3932992
$24V_AH,24.0,188.312
$10V_AH,10.5,72.543
$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,16.025,27.150,241.025,97.975,0.000,0.000,0.000,69.775,0.000,0.000,30.735,0.000,2171.582,367.930,1057.451,375.790,33.225,823.744,0.000,824.569,0.000,23.836,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,1184.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.277,0.000,0.000,0.000
$MEM,306908
$DATA_FILE_SIZE,6790,263
$CAP_FILE_SIZE,158398,0
$CFSIZE,260165632,236744704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,050114,160419,4807.938,-12223.980,10,1.8,15,18.0