version: 66.12
glider: 99
mission: 78
dive: 181
start: 1 6 114 19 25 18
data:
$ID,99
$MISSION,78
$DIVE,181
$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,-1250113.1
$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,17
$R_STBD_OVSHOOT,3
$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
$GPS1,060114,191952,4806.912,-12222.758,36,1.9,42,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,060114,192414,4806.926,-12222.779,12,1.5,18,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.041,-0.151
$KALMAN_X,22241.5,-75.1,50.9,-21212.3,261.2
$KALMAN_Y,1722.2,384.1,-161.9,-3408.7,-102.5
$MHEAD_RNG_PITCHd_Wd,146.8,4191,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.84,-146.0,339,2003,1868,1941,0.0,0.0,0,79,0.00,0.00,-60.58,0.000,16390,0.000,0.000,338,2001,3721,3650,3793,0,0,0,0,0,0,28.83,28.83,24.19
$GC,83,-0.84,-146.0,338,2004,3647,3787,0.1,-0.3,6,99,6.00,2.75,-0.25,0.000,18948,0.000,0.000,1527,550,3714,3640,3789,0,0,0,0,0,0,24.18,24.18,24.19
$GC,389,-0.84,-146.0,1818,551,3647,3786,23.2,-5.2,35,393,0.00,2.80,0.00,0.000,1030,0.000,0.000,1523,2066,3719,3641,3797,0,0,0,0,0,0,28.83,24.18,28.83
$GC,699,-0.84,-146.0,1524,2059,3654,3794,39.0,-5.4,65,703,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,2057,3720,3642,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1006,-0.84,-146.0,1523,2059,3658,3793,54.7,-5.1,92,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,2053,3721,3642,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1304,-0.84,-146.0,1520,2061,3644,3807,69.4,-4.8,107,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,2057,3725,3641,3810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1608,-0.84,-146.0,1524,2055,3649,3786,84.2,-4.8,122,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,2050,3721,3655,3787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1906,-0.84,-146.0,1521,2059,3655,3792,94.9,-1.2,137,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,2054,3725,3643,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2205,-0.84,-146.0,1523,2058,3637,3788,79.6,6.2,152,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,2063,3726,3655,3798,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2261,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2261,begin apogee
$GC,2269,-0.31,0.0,1520,1946,3641,3815,75.9,6.1,155,2396,0.68,0.22,119.57,0.001,10246,0.000,0.000,1645,2044,3138,3082,3195,0,0,0,0,0,0,24.17,24.18,24.13
$STATE,2399,end apogee,CONTROL_FINISHED_OK
$STATE,2399,begin climb
$GC,2402,0.84,146.0,1645,2039,3072,3195,68.9,0.0,161,2528,1.33,0.00,122.07,0.001,10246,0.000,0.000,1927,2039,2541,2494,2588,0,0,0,0,0,0,24.18,28.83,24.13
$GC,2819,0.84,146.0,1925,2044,2492,2593,43.7,5.7,188,2822,0.28,0.00,1.00,0.000,12294,0.000,0.000,1876,2041,2541,2490,2593,0,0,0,0,0,0,24.17,28.83,24.14
$GC,3125,0.84,146.0,1892,2032,2483,2591,26.3,5.8,218,3129,0.00,0.00,2.65,0.000,8198,0.000,0.000,1887,2040,2541,2494,2588,0,0,0,0,0,0,28.83,28.83,24.13
$GC,3426,0.84,146.0,1888,2038,2491,2593,9.3,5.2,248,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,2024,2534,2485,2584,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3583,end climb,SURFACE_DEPTH_REACHED
$STATE,3583,begin surface coast
$STATE,3636,end surface coast,CONTROL_FINISHED_OK
$STATE,3636,begin surface
$SM_CCo,3658,98.32,0.000,0,0,1915,300.49
$SM_GC,-0.01,7.97,0.17,98.32,0.000,0.000,0.000,337,1936,1915,-6.36,-0.03,300.49,0,0,0,0,0,0,24.18,24.17,24.15
$RAFOS_CLK,30
$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,64.64
$INTERNAL_PRESSURE,16.026
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.3,0.0
$SC_FREEKB,3929664
$24V_AH,24.0,188.787
$10V_AH,10.5,73.335
$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,16.250,6.200,245.300,98.325,0.000,0.000,0.000,72.550,0.000,0.000,20.385,0.000,2304.154,353.379,979.891,382.758,33.220,718.500,0.000,804.489,0.000,23.844,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,6.486,0.000,0.000,0.000
$MEM,306840
$DATA_FILE_SIZE,6815,269
$CAP_FILE_SIZE,164894,0
$CFSIZE,260165632,235429888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2269.37,0x2361c2,2,24
$SOUNDSPEED,1465.0
$GPS,060114,202905,4806.649,-12222.400,28,1.8,37,18.0