version: 66.12
glider: 99
mission: 78
dive: 165
start: 1 6 114 1 7 5
data:
$ID,99
$MISSION,78
$DIVE,165
$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,-1250093.1
$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,5
$R_STBD_OVSHOOT,0
$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
$GPS1,060114,010138,4805.542,-12221.235,25,1.7,31,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,060114,010601,4805.517,-12221.193,15,1.6,22,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.020,-0.156
$KALMAN_X,20731.0,93.0,-80.8,-17781.8,181.7
$KALMAN_Y,926.9,-242.6,62.5,-4817.8,172.9
$MHEAD_RNG_PITCHd_Wd,169.4,987,-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,-146.0,348,1991,1874,1939,0.0,0.0,0,84,0.00,0.12,-60.50,0.000,16390,0.000,0.001,347,2031,3716,3650,3783,0,0,0,0,0,0,28.83,24.18,24.19
$GC,88,-0.84,-146.0,347,2015,3628,3786,0.0,-0.1,6,102,6.07,2.70,-0.05,0.000,19204,0.000,0.000,1568,3465,3717,3643,3792,0,0,0,0,0,0,24.18,24.18,24.18
$GC,375,-0.84,-146.0,1569,3453,3645,3780,23.8,-6.0,35,384,0.32,2.78,-0.12,0.000,21510,0.000,0.000,1505,1965,3711,3634,3788,0,0,0,0,0,0,24.18,24.18,24.19
$GC,689,-0.84,-146.0,1502,1955,3644,3820,40.4,-5.6,66,691,0.32,0.00,0.00,0.000,2054,0.000,0.000,1571,1959,3720,3636,3805,0,0,0,0,0,0,24.18,28.83,28.83
$GC,993,-0.84,-146.0,1569,1965,3653,3801,56.7,-5.5,90,994,0.32,0.00,0.00,0.000,4102,0.000,0.000,1511,1968,3730,3653,3808,0,0,0,0,0,0,24.17,28.83,28.83
$GC,1290,-0.84,-146.0,1511,1966,3676,3788,72.0,-5.2,105,1291,0.25,0.00,0.00,0.000,2054,0.000,0.000,1544,1971,3713,3623,3803,0,0,0,0,0,0,24.17,28.83,28.83
$GC,1589,-0.84,-146.0,1550,1963,3653,3802,87.2,-5.1,120,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,1966,3720,3637,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1891,-0.84,-146.0,1542,1965,3635,3781,92.5,2.6,135,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,1552,1963,3725,3647,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2193,-0.84,-146.0,1553,1962,3626,3803,75.6,5.8,150,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,1551,1967,3722,3653,3792,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2265,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2265,begin apogee
$GC,2273,-0.31,0.0,1543,1996,3634,3793,70.9,6.0,154,2399,0.50,0.03,119.30,0.001,10246,0.000,0.000,1642,1993,3140,3083,3197,0,0,0,0,0,0,24.18,24.18,24.13
$STATE,2400,end apogee,CONTROL_FINISHED_OK
$STATE,2401,begin climb
$GC,2404,0.84,146.0,1643,2020,3074,3183,64.0,0.0,160,2529,1.27,0.00,121.57,0.001,10246,0.000,0.000,1909,2001,2540,2488,2593,0,0,0,0,0,0,24.18,28.83,24.13
$GC,2829,0.84,146.0,1909,1999,2488,2579,40.2,5.3,191,2833,0.00,0.00,0.45,0.000,8198,0.000,0.000,1910,1999,2537,2487,2588,0,0,0,0,0,0,28.83,28.83,24.14
$GC,3142,0.84,146.0,1916,1996,2484,2597,23.2,5.7,222,3144,0.00,0.00,0.38,0.000,8198,0.000,0.000,1908,2001,2541,2494,2588,0,0,0,0,0,0,28.83,28.83,24.14
$GC,3443,0.84,146.0,1910,2006,2487,2579,7.5,6.9,252,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,1996,2537,2489,2586,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3610,end climb,SURFACE_DEPTH_REACHED
$STATE,3611,begin surface coast
$STATE,3671,end surface coast,CONTROL_FINISHED_OK
$STATE,3671,begin surface
$SM_CCo,3696,98.65,0.000,0,0,1906,300.00
$SM_GC,-0.00,8.05,0.00,98.65,0.000,0.000,0.000,314,2005,1906,-6.35,0.03,300.00,0,0,0,0,0,0,24.18,28.83,24.14
$RAFOS_CLK,25
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.062167,0.062167
$HUMID,62.60
$INTERNAL_PRESSURE,16.1237
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,71.0,0.0
$SC_FREEKB,3931840
$24V_AH,24.0,188.477
$10V_AH,10.6,72.824
$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,17.125,5.875,241.700,98.650,0.000,0.000,0.000,70.650,0.000,0.000,23.657,0.000,2285.955,388.198,995.336,390.238,33.224,721.539,0.000,817.011,0.000,27.065,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2410.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.863,0.000,0.000,0.000
$MEM,306800
$DATA_FILE_SIZE,6808,275
$CAP_FILE_SIZE,167602,0
$CFSIZE,260165632,236265472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,060114,021114,4805.236,-12221.099,13,1.8,19,18.0