version: 66.12
glider: 99
mission: 78
dive: 116
start: 1 3 114 21 58 23
data:
$ID,99
$MISSION,78
$DIVE,116
$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,-1250031.9
$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,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
$GPS1,030114,215239,4805.327,-12221.285,10,1.3,16,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,030114,215720,4805.320,-12221.273,30,2.0,37,18.0
$SPEED_LIMITS,0.060,0.169
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.074,-0.153
$KALMAN_X,15098.6,-18.9,85.6,-12298.4,27.0
$KALMAN_Y,-4658.6,-56.1,-95.6,370.6,25.3
$MHEAD_RNG_PITCHd_Wd,136.3,683,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.01,-146.0,352,2003,1669,1739,0.0,0.0,0,91,0.00,0.03,-67.90,0.000,16390,0.000,0.001,352,1997,3727,3637,3817,0,0,0,0,0,0,28.83,24.15,24.19
$GC,95,-1.01,-146.0,353,2014,3637,3791,0.0,-0.1,7,105,5.85,2.70,0.00,0.000,2308,0.000,0.000,1506,3414,3731,3639,3823,0,0,0,0,0,0,24.18,24.18,28.83
$GC,121,-1.01,-146.0,1506,3421,3660,3795,2.3,-5.4,10,125,0.00,2.75,0.00,0.000,1030,0.000,0.000,1505,1934,3713,3637,3790,0,0,0,0,0,0,28.83,24.18,28.83
$GC,430,-1.01,-146.0,1505,1935,3645,3806,29.8,-7.1,41,436,0.00,2.70,0.00,0.000,260,0.000,0.000,1504,3417,3724,3650,3798,0,0,0,0,0,0,28.83,24.18,28.83
$GC,723,-1.01,-146.0,1501,3427,3641,3792,49.7,-6.7,69,729,0.00,2.67,0.00,0.000,1030,0.000,0.000,1507,1991,3720,3647,3793,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1034,-1.01,-146.0,1500,1989,3628,3782,70.4,-6.2,85,1035,0.00,0.00,-0.03,0.000,16390,0.000,0.000,1506,1990,3720,3637,3804,0,0,0,0,0,0,28.83,28.83,24.13
$GC,1338,-1.01,-146.0,1511,1991,3637,3807,89.2,-5.7,100,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,1505,1997,3710,3635,3786,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1399,begin apogee
$GC,1406,-0.31,0.0,1505,1990,3661,3792,90.3,-2.2,103,1535,0.82,0.00,118.90,0.001,10246,0.000,0.000,1660,1985,3134,3075,3194,0,0,0,0,0,0,24.18,28.83,24.13
$STATE,1538,end apogee,CONTROL_FINISHED_OK
$STATE,1538,begin climb
$GC,1541,1.01,146.0,1667,1992,3076,3191,86.7,0.0,110,1676,1.58,0.00,122.50,0.001,10246,0.000,0.000,1937,1986,2535,2486,2584,0,0,0,0,0,0,24.17,28.83,24.13
$GC,1974,1.01,146.0,1934,1998,2484,2592,55.3,7.2,132,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,1992,2527,2482,2573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2275,1.01,146.0,1929,1992,2479,2584,33.4,7.2,158,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,1990,2534,2487,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2578,1.01,146.0,1932,1989,2485,2586,13.0,6.7,188,2583,0.00,0.00,0.40,0.000,8198,0.000,0.000,1943,1993,2542,2489,2596,0,0,0,0,0,0,28.83,28.83,24.14
$STATE,2758,end climb,SURFACE_DEPTH_REACHED
$STATE,2758,begin surface coast
$FINISH,0.1,0.000000
$STATE,2781,end surface coast,CONTROL_FINISHED_OK
$STATE,2781,begin surface
$SM_CCo,2805,130.27,0.000,0,0,1701,350.04
$SM_GC,-0.00,8.07,0.00,130.27,0.000,0.000,0.000,330,1988,1701,-6.30,-0.06,350.04,0,0,0,0,0,0,24.18,28.83,24.14
$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,65.08
$INTERNAL_PRESSURE,16.0455
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.3,0.0
$SC_FREEKB,3938368
$24V_AH,24.0,187.483
$10V_AH,10.6,71.360
$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,16.325,10.850,241.800,130.275,0.000,0.000,0.000,80.100,0.000,0.000,38.259,0.000,1632.199,369.088,873.465,344.489,33.218,738.188,0.000,653.613,0.000,23.817,0.000
$DEVICE_MAMPS,119.000,0.765,0.765,600.000,0.000,0.000,0.000,55.845,0.000,0.000,50.000,0.000,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1255.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.546,0.000,0.000,0.000
$MEM,306856
$DATA_FILE_SIZE,6822,208
$CAP_FILE_SIZE,138111,0
$CFSIZE,260165632,238743552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,030114,224827,4805.121,-12221.109,26,1.3,36,18.0