version: 66.12
glider: 99
mission: 78
dive: 115
start: 1 3 114 21 2 28
data:
$ID,99
$MISSION,78
$DIVE,115
$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,-1250030.6
$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,6
$R_STBD_OVSHOOT,45
$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
$GPS1,030114,205640,4805.497,-12221.539,35,1.9,39,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,030114,210124,4805.488,-12221.534,34,1.9,40,18.0
$SPEED_LIMITS,0.060,0.169
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.103,-0.135
$KALMAN_X,15078.5,-27.1,99.2,-12606.1,31.3
$KALMAN_Y,-4825.9,29.5,-98.7,768.2,-60.2
$MHEAD_RNG_PITCHd_Wd,124.7,1120,-13.2,-6.000,-19.50,3174
$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,17,-1.01,-146.0,310,1996,1669,1738,0.0,0.0,0,89,0.00,0.00,-67.22,0.000,16390,0.000,0.000,309,1999,3716,3655,3778,0,0,0,0,0,0,28.83,28.83,24.19
$GC,93,-1.01,-146.0,310,1999,3640,3778,0.1,-0.3,7,105,6.03,2.60,-0.38,0.000,18692,0.000,0.000,1506,3420,3714,3641,3787,0,0,0,0,0,0,24.18,24.17,24.19
$GC,122,-1.01,-146.0,1502,3389,3648,3791,3.6,-7.2,10,126,0.00,2.67,0.00,0.000,1030,0.000,0.000,1503,1999,3735,3658,3812,0,0,0,0,0,0,28.83,24.18,28.83
$GC,432,-1.01,-146.0,1500,2000,3648,3799,30.1,-6.8,41,436,0.00,2.53,0.00,0.000,260,0.000,0.000,1502,3430,3714,3639,3789,0,0,0,0,0,0,28.83,24.18,28.83
$GC,718,-1.01,-146.0,1504,3434,3653,3810,48.0,-6.5,68,724,0.00,2.67,-0.03,0.000,17414,0.000,0.000,1503,2000,3716,3633,3799,0,0,0,0,0,0,28.83,24.18,24.15
$GC,1031,-1.01,-146.0,1506,1997,3636,3796,68.2,-6.3,85,1032,0.00,0.00,-0.10,0.000,16390,0.000,0.000,1504,2009,3715,3635,3796,0,0,0,0,0,0,28.83,28.83,24.18
$GC,1325,-1.01,-146.0,1504,1985,3639,3807,87.4,-6.5,100,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,1504,2002,3727,3665,3790,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1429,begin apogee
$GC,1436,-0.31,0.0,1504,2008,3646,3809,90.3,-2.0,105,1565,0.77,0.00,119.53,0.001,10246,0.000,0.000,1662,1999,3134,3081,3187,0,0,0,0,0,0,24.17,28.83,24.13
$STATE,1568,end apogee,CONTROL_FINISHED_OK
$STATE,1568,begin climb
$GC,1571,1.01,146.0,1665,2004,3062,3196,86.5,0.0,112,1700,1.52,0.00,123.05,0.001,10246,0.000,0.000,1969,2003,2538,2489,2588,0,0,0,0,0,0,24.18,28.83,24.12
$GC,2006,1.01,146.0,1971,1994,2487,2587,55.3,7.2,134,2007,0.25,0.00,0.00,0.000,4102,0.000,0.000,1928,2003,2530,2488,2572,0,0,0,0,0,0,24.17,28.83,28.83
$GC,2308,1.01,146.0,1935,2003,2504,2592,33.7,7.1,160,2312,0.00,0.00,1.33,0.000,8198,0.000,0.000,1920,2001,2540,2491,2589,0,0,0,0,0,0,28.83,28.83,24.15
$GC,2621,1.01,146.0,1913,2005,2498,2589,11.4,6.4,191,2623,0.00,0.00,0.80,0.000,8198,0.000,0.000,1933,2003,2536,2481,2592,0,0,0,0,0,0,28.83,28.83,24.14
$STATE,2777,end climb,SURFACE_DEPTH_REACHED
$STATE,2777,begin surface coast
$FINISH,0.2,0.000000
$STATE,2810,end surface coast,CONTROL_FINISHED_OK
$STATE,2810,begin surface
$SM_CCo,2830,130.55,0.000,0,0,1701,350.04
$SM_GC,-0.00,8.05,0.00,130.55,0.000,0.000,0.000,351,2004,1701,-6.29,0.06,350.04,0,0,0,0,0,0,24.18,28.83,24.14
$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,0.061418,0.061418
$HUMID,65.31
$INTERNAL_PRESSURE,16.026
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.8,0.0
$SC_FREEKB,3938496
$24V_AH,24.0,187.459
$10V_AH,10.5,71.332
$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,16.625,10.475,244.700,130.550,0.000,0.000,0.000,79.450,0.000,0.000,41.166,0.000,1739.047,325.152,871.931,314.580,33.223,734.348,0.000,577.400,0.000,26.704,0.000
$DEVICE_MAMPS,119.000,60.000,0.765,600.000,0.000,0.000,0.000,55.845,0.000,0.000,50.000,0.000,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1252.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.090,0.000,0.000,0.000
$MEM,306896
$DATA_FILE_SIZE,6795,210
$CAP_FILE_SIZE,120122,0
$CFSIZE,260165632,238804992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,030114,215239,4805.327,-12221.285,10,1.3,16,18.0