version: 66.12
glider: 99
mission: 78
dive: 182
start: 1 6 114 20 34 35
data:
$ID,99
$MISSION,78
$DIVE,182
$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,-1250114.4
$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,1
$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
$GPS1,060114,202905,4806.649,-12222.400,28,1.8,37,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,060114,203331,4806.668,-12222.397,17,1.9,24,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.015,-0.156
$KALMAN_X,22408.6,18.7,104.5,-21055.2,233.2
$KALMAN_Y,1992.2,294.0,-254.8,-3974.8,69.6
$MHEAD_RNG_PITCHd_Wd,156.4,3540,-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,-146.0,338,2034,1858,1946,0.0,0.0,0,84,0.00,0.17,-60.17,0.000,16390,0.000,0.001,336,1930,3708,3629,3788,0,0,0,0,0,0,28.83,24.18,24.19
$GC,88,-0.84,-146.0,337,1938,3651,3798,0.1,-0.3,6,101,6.05,2.58,0.00,0.000,2564,0.000,0.000,1550,544,3712,3641,3784,0,0,0,0,0,0,24.18,24.18,28.83
$GC,106,-0.84,-146.0,1549,544,3655,3791,2.9,-6.3,8,112,0.00,2.78,0.00,0.000,1030,0.000,0.000,1553,2003,3713,3639,3788,0,0,0,0,0,0,28.83,24.18,28.83
$GC,413,-0.84,-146.0,1556,2007,3633,3785,23.6,-5.0,39,417,0.00,2.70,0.00,0.000,260,0.000,0.000,1551,3521,3708,3634,3782,0,0,0,0,0,0,28.83,24.18,28.83
$GC,698,-0.84,-146.0,1548,3494,3630,3781,37.9,-5.2,66,703,0.00,2.90,-0.03,0.000,17414,0.000,0.000,1552,1942,3721,3664,3778,0,0,0,0,0,0,28.83,24.18,24.15
$GC,1015,-0.84,-146.0,1553,1946,3630,3777,54.0,-4.9,94,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,1549,1943,3710,3641,3780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1318,-0.84,-146.0,1551,1968,3634,3780,69.4,-5.1,109,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,1945,3703,3622,3784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1613,-0.84,-146.0,1551,1947,3637,3785,84.0,-4.6,124,1615,0.00,0.00,-0.43,0.000,16390,0.000,0.000,1548,1947,3716,3639,3794,0,0,0,0,0,0,28.83,28.83,24.18
$GC,1915,-0.84,-146.0,1553,1956,3639,3785,94.6,-1.0,139,1916,0.00,0.00,-0.05,0.000,16390,0.000,0.000,1550,1944,3718,3652,3785,0,0,0,0,0,0,28.83,28.83,24.15
$GC,2218,-0.84,-146.0,1545,1947,3661,3788,79.5,6.1,154,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,1551,1950,3717,3643,3791,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2274,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2274,begin apogee
$GC,2281,-0.31,0.0,1549,2045,3659,3786,76.0,6.0,157,2408,0.65,0.17,119.53,0.001,10246,0.000,0.000,1661,1950,3134,3078,3190,0,0,0,0,0,0,24.18,24.18,24.13
$STATE,2409,end apogee,CONTROL_FINISHED_OK
$STATE,2409,begin climb
$GC,2413,0.84,146.0,1660,1936,3068,3194,68.9,0.0,163,2550,1.27,2.78,121.93,0.001,10500,0.000,0.000,1888,3511,2540,2483,2597,0,0,0,0,0,0,24.18,24.18,24.12
$GC,2756,0.84,146.0,1888,3520,2482,2578,47.8,6.4,181,2762,0.00,2.80,0.00,0.000,1030,0.000,0.000,1897,2006,2538,2480,2597,0,0,0,0,0,0,28.83,24.18,28.83
$GC,3064,0.84,146.0,1900,2006,2486,2587,30.6,5.2,212,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2017,2534,2487,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3371,0.84,146.0,1896,1999,2481,2583,13.2,5.9,242,3372,0.00,0.00,0.03,0.000,8198,0.000,0.000,1900,1995,2530,2474,2586,0,0,0,0,0,0,28.83,28.83,24.13
$STATE,3602,end climb,SURFACE_DEPTH_REACHED
$STATE,3602,begin surface coast
$STATE,3642,end surface coast,CONTROL_FINISHED_OK
$STATE,3642,begin surface
$SM_CCo,3664,97.60,0.000,0,0,1910,300.25
$SM_GC,-0.00,7.97,0.03,97.60,0.000,0.000,0.000,357,1967,1910,-6.27,0.00,300.25,0,0,0,0,0,0,24.18,24.17,24.14
$RAFOS_CLK,21
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.063665,0.063665
$HUMID,63.90
$INTERNAL_PRESSURE,16.0162
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.4,0.0
$SC_FREEKB,3929536
$24V_AH,24.0,188.805
$10V_AH,10.5,73.368
$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,15.950,17.450,241.475,97.600,0.000,0.000,0.000,70.775,0.000,0.000,25.531,0.000,2280.759,345.176,1020.050,382.317,33.220,749.705,0.000,803.394,0.000,23.956,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2419.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.336,0.000,0.000,0.000
$MEM,306904
$DATA_FILE_SIZE,6788,269
$CAP_FILE_SIZE,163267,0
$CFSIZE,260165632,235380736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,060114,213808,4806.604,-12222.373,13,2.0,18,18.0