version: 66.12
glider: 99
mission: 78
dive: 185
start: 1 7 114 0 0 5
data:
$ID,99
$MISSION,78
$DIVE,185
$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,-1250118.1
$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,3
$R_STBD_OVSHOOT,1
$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
$GPS1,060114,235434,4805.989,-12221.715,34,1.9,42,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,060114,235901,4805.969,-12221.682,19,1.8,26,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.030,-0.154
$KALMAN_X,22768.4,222.2,26.8,-20657.7,95.5
$KALMAN_Y,2367.1,65.5,33.8,-5701.1,139.1
$MHEAD_RNG_PITCHd_Wd,151.0,1983,-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,-146.0,333,1983,1871,1947,0.0,0.0,0,84,0.00,0.15,-60.55,0.000,16390,0.000,0.000,333,2087,3732,3665,3800,0,0,0,0,0,0,28.83,24.18,24.18
$GC,88,-0.84,-146.0,333,2075,3652,3777,0.2,-0.6,6,102,6.20,2.55,0.00,0.000,2308,0.000,0.000,1582,3422,3718,3641,3795,0,0,0,0,0,0,24.18,24.18,28.83
$GC,375,-0.84,-146.0,1592,3442,3638,3776,21.2,-4.9,35,380,0.28,2.67,-0.10,0.000,21510,0.000,0.000,1508,1937,3714,3650,3779,0,0,0,0,0,0,24.18,24.18,24.19
$GC,689,-0.84,-146.0,1508,1939,3635,3781,39.8,-5.8,66,695,0.35,0.00,-0.05,0.000,18438,0.000,0.000,1573,1937,3723,3648,3798,0,0,0,0,0,0,24.18,28.83,24.17
$GC,1011,-0.84,-146.0,1571,1945,3659,3784,57.3,-5.2,91,1012,0.38,0.00,0.00,0.000,4102,0.000,0.000,1501,1937,3720,3646,3795,0,0,0,0,0,0,24.17,28.83,28.83
$GC,1315,-0.84,-146.0,1500,1934,3655,3787,73.8,-5.8,106,1316,0.28,0.00,0.00,0.000,2054,0.000,0.000,1563,1931,3713,3644,3783,0,0,0,0,0,0,24.17,28.83,28.83
$GC,1612,-0.84,-146.0,1556,1934,3650,3800,89.6,-4.9,121,1613,0.22,0.00,0.00,0.000,4102,0.000,0.000,1518,1943,3724,3642,3807,0,0,0,0,0,0,24.17,28.83,28.83
$GC,1911,-0.84,-146.0,1522,1940,3677,3793,91.4,3.8,136,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,1943,3723,3647,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2212,-0.84,-146.0,1530,1942,3636,3793,74.4,5.4,151,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,1517,1944,3714,3636,3792,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2272,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2272,begin apogee
$GC,2280,-0.31,0.0,1523,2068,3634,3788,71.2,5.3,154,2404,0.68,0.20,119.50,0.001,10246,0.000,0.000,1647,1955,3142,3099,3185,0,0,0,0,0,0,24.18,24.18,24.13
$STATE,2410,end apogee,CONTROL_FINISHED_OK
$STATE,2410,begin climb
$GC,2414,0.84,146.0,1646,1953,3078,3199,64.3,0.0,160,2547,1.40,0.00,122.20,0.000,10246,0.000,0.000,1904,1953,2539,2491,2587,0,0,0,0,0,0,24.18,28.83,24.13
$GC,2855,0.84,146.0,1901,1944,2480,2585,37.6,5.1,193,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1960,2540,2495,2585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3158,0.84,146.0,1908,1954,2484,2587,19.4,5.1,223,3162,0.00,0.00,1.95,0.000,8198,0.000,0.000,1901,1951,2538,2488,2589,0,0,0,0,0,0,28.83,28.83,24.15
$GC,3465,0.87,170.0,1898,1953,2486,2591,4.4,4.3,254,3482,0.00,0.00,15.15,0.000,8198,0.000,0.000,1902,1956,2437,2388,2487,0,0,0,0,0,0,28.83,28.83,24.14
$STATE,3557,end climb,SURFACE_DEPTH_REACHED
$STATE,3557,begin surface coast
$FINISH,-0.0,0.000000
$STATE,3620,end surface coast,CONTROL_FINISHED_OK
$STATE,3620,begin surface
$SM_CCo,3641,83.88,0.000,0,0,1901,300.49
$SM_GC,-0.01,8.02,0.17,83.88,0.000,0.000,0.000,313,1988,1901,-6.36,-0.03,300.49,0,0,0,0,0,0,24.17,24.17,24.14
$RAFOS_CLK,12
$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,65.98
$INTERNAL_PRESSURE,16.0065
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.3,0.0
$SC_FREEKB,3929152
$24V_AH,24.0,188.853
$10V_AH,10.6,73.458
$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,17.800,6.250,258.800,83.875,0.000,0.000,0.000,70.975,0.000,0.000,27.630,0.000,2299.279,380.657,948.455,368.115,33.221,727.447,0.000,723.749,0.000,23.861,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,1222.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.613,0.000,0.000,0.000
$MEM,306828
$DATA_FILE_SIZE,6804,269
$CAP_FILE_SIZE,148692,0
$CFSIZE,260165632,235237376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,070114,010316,4805.681,-12221.585,26,1.8,32,18.0