version: 66.12
glider: 99
mission: 78
dive: 88
start: 1 2 114 20 21 29
data:
$ID,99
$MISSION,78
$DIVE,88
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,50
$T_MISSION,65
$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,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-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,350
$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,-1249996.9
$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,2
$R_STBD_OVSHOOT,2
$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
$GPS1,020114,201555,4805.759,-12221.664,17,1.3,26,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,020114,202029,4805.734,-12221.622,24,1.2,30,18.0
$SPEED_LIMITS,0.060,0.169
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.042,-0.164
$KALMAN_X,12776.1,-42.5,1.0,-10300.0,216.4
$KALMAN_Y,-5453.4,82.9,-57.0,1753.7,-109.3
$MHEAD_RNG_PITCHd_Wd,147.7,1562,-13.2,-6.000,-19.50,3173
$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,12,begin dive
$GC,16,-1.01,-146.0,330,2055,1669,1734,0.0,0.0,0,90,0.00,0.17,-67.62,0.000,16390,0.000,0.000,330,2001,3727,3650,3805,0,0,0,0,0,0,28.83,24.18,24.19
$GC,94,-1.01,-146.0,331,1992,3648,3796,0.1,-0.2,7,105,5.85,2.70,0.00,0.000,2308,0.000,0.000,1498,3445,3722,3648,3796,0,0,0,0,0,0,24.18,24.18,28.83
$GC,376,-1.01,-146.0,1494,3438,3664,3796,24.5,-7.0,35,382,0.00,2.75,0.00,0.000,1030,0.000,0.000,1494,1881,3750,3693,3807,0,0,0,0,0,0,28.83,24.18,28.83
$GC,688,-1.01,-146.0,1493,1901,3644,3820,44.6,-6.1,66,689,0.00,0.00,0.00,0.000,6,0.000,0.000,1495,1886,3726,3649,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,999,-1.01,-146.0,1496,1880,3647,3787,64.8,-6.6,86,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,1495,1867,3726,3669,3784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1299,-1.01,-146.0,1492,1886,3640,3785,84.8,-6.7,101,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,1494,1885,3732,3658,3807,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1441,begin apogee
$GC,1448,-0.31,0.0,1494,2048,3647,3803,90.2,-2.1,108,1583,0.90,0.28,120.05,0.001,10246,0.000,0.000,1654,1959,3142,3086,3198,0,0,0,0,0,0,24.18,24.17,24.13
$STATE,1584,end apogee,CONTROL_FINISHED_OK
$STATE,1584,begin climb
$GC,1587,1.01,146.0,1653,1961,3095,3198,86.7,0.0,115,1716,1.60,0.00,123.45,0.001,10246,0.000,0.000,1940,1957,2536,2485,2588,0,0,0,0,0,0,24.18,28.83,24.12
$GC,2019,1.01,146.0,1938,1957,2476,2581,53.8,7.7,137,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,1958,2535,2487,2584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2328,1.01,146.0,1943,1961,2482,2579,32.0,7.0,164,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,1958,2525,2479,2572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2632,1.01,146.0,1944,1962,2484,2585,11.8,6.2,194,2637,0.00,2.75,0.00,0.000,260,0.000,0.000,1943,3441,2541,2487,2595,0,0,0,0,0,0,28.83,24.18,28.83
$GC,2716,1.01,146.0,1941,3437,2482,2581,6.1,6.8,202,2721,0.00,2.83,0.68,0.000,9222,0.000,0.000,1941,1977,2539,2489,2589,0,0,0,0,0,0,28.83,24.17,24.14
$STATE,2781,end climb,SURFACE_DEPTH_REACHED
$STATE,2781,begin surface coast
$STATE,2811,end surface coast,CONTROL_FINISHED_OK
$STATE,2811,begin surface
$SM_CCo,2836,129.88,0.000,0,0,1703,350.04
$SM_GC,-0.00,8.20,0.17,129.88,0.000,0.000,0.000,339,2014,1703,-6.27,0.23,350.04,0,0,0,0,0,0,24.18,24.17,24.14
$RAFOS_CLK,28
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.043442,0.043442
$HUMID,65.55
$INTERNAL_PRESSURE,15.9576
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,66.2,0.0
$SC_FREEKB,3942272
$24V_AH,24.0,186.801
$10V_AH,10.5,70.615
$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,16.550,12.350,244.175,129.875,0.000,0.000,0.000,80.125,0.000,0.000,31.908,0.000,1691.520,419.370,807.908,323.024,33.220,747.086,0.000,615.842,0.000,23.817,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,1594.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.787,0.000,0.000,0.000
$MEM,306924
$DATA_FILE_SIZE,6829,212
$CAP_FILE_SIZE,127506,0
$CFSIZE,260165632,240021504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1572.36,0x2361c4,2,24
$SOUNDSPEED,1465.0
$GPS,020114,211147,4805.460,-12221.427,11,1.6,18,18.0