version: 66.12
glider: 99
mission: 78
dive: 130
start: 1 4 114 11 12 14
data:
$ID,99
$MISSION,78
$DIVE,130
$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,70
$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,-1250049.4
$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,23
$R_STBD_OVSHOOT,4
$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
$GPS1,040114,110657,4807.771,-12223.588,21,1.8,26,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,040114,111110,4808.003,-12223.899,12,1.7,18,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.044,-0.151
$KALMAN_X,16184.5,80.1,26.0,-16669.8,5.4
$KALMAN_Y,-3304.4,105.7,-48.1,3776.6,301.5
$MHEAD_RNG_PITCHd_Wd,145.6,6618,-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,-146.0,327,2023,1876,1945,0.0,0.0,0,80,0.00,0.00,-60.85,0.000,16390,0.000,0.000,326,2024,3731,3646,3816,0,0,0,0,0,0,28.83,28.83,24.19
$GC,84,-0.84,-146.0,328,2022,3649,3812,0.1,-0.2,6,97,6.12,2.72,0.00,0.000,2564,0.000,0.000,1544,600,3730,3659,3802,0,0,0,0,0,0,24.17,24.18,28.83
$GC,104,-0.84,-146.0,1541,601,3651,3815,1.0,-2.4,8,121,0.00,2.67,0.00,0.000,1030,0.000,0.000,1533,2014,3735,3668,3803,0,0,0,0,0,0,28.83,24.18,28.83
$GC,421,-0.84,-146.0,1540,2009,3649,3808,27.2,-5.8,39,425,0.00,2.58,0.00,0.000,516,0.000,0.000,1542,607,3719,3645,3793,0,0,0,0,0,0,28.83,24.18,28.83
$GC,713,-0.84,-146.0,1542,608,3655,3808,43.9,-5.8,67,719,0.00,2.58,0.00,0.000,1030,0.000,0.000,1541,2011,3727,3646,3809,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1032,-0.84,-146.0,1543,2019,3651,3808,61.4,-5.4,89,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,2016,3736,3671,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1331,-0.84,-146.0,1539,2023,3648,3780,77.0,-5.1,104,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,2020,3730,3667,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1632,-0.84,-146.0,1542,2016,3637,3803,92.3,-5.2,119,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,2019,3727,3653,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1752,begin apogee
$GC,1760,-0.31,0.0,1544,2027,3682,3820,95.2,-1.8,125,1883,0.65,0.00,119.18,0.001,10246,0.000,0.000,1669,2025,3142,3077,3207,0,0,0,0,0,0,24.17,28.83,24.13
$STATE,1888,end apogee,CONTROL_FINISHED_OK
$STATE,1888,begin climb
$GC,1892,0.84,146.0,1674,2012,3073,3195,91.7,0.0,131,2019,1.23,0.00,124.53,0.001,10246,0.000,0.000,1914,2018,2545,2488,2603,0,0,0,0,0,0,24.17,28.83,24.13
$GC,2312,0.84,146.0,1917,2016,2486,2587,65.8,6.4,153,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,2023,2533,2480,2586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2612,0.84,146.0,1910,2015,2488,2582,47.3,6.7,169,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,2021,2541,2497,2585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2921,0.84,146.0,1911,2019,2479,2592,29.7,5.4,199,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,2013,2536,2494,2579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3225,0.84,146.0,1913,2010,2479,2584,12.9,5.3,229,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,2020,2530,2486,2574,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3431,end climb,SURFACE_DEPTH_REACHED
$STATE,3431,begin surface coast
$STATE,3462,end surface coast,CONTROL_FINISHED_OK
$STATE,3462,begin surface
$SM_CCo,3484,97.80,0.000,0,0,1908,300.00
$SM_GC,-0.00,8.02,0.03,97.80,0.000,0.000,0.000,339,2026,1908,-6.35,0.48,300.00,0,0,0,0,0,0,24.18,24.17,24.14
$RAFOS_CLK,30
$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,65.35
$INTERNAL_PRESSURE,16.1334
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.8,0.0
$SC_FREEKB,3936512
$24V_AH,24.0,187.807
$10V_AH,10.7,71.743
$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,16.025,10.575,243.700,97.800,0.000,0.000,0.000,71.825,0.000,0.000,19.419,0.000,2151.753,245.604,1056.362,388.232,33.225,722.146,0.000,817.397,0.000,23.914,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,21.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.716,0.000,0.000,0.000
$MEM,306860
$DATA_FILE_SIZE,6809,253
$CAP_FILE_SIZE,167267,0
$CFSIZE,260165632,238063616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1785.57,0x2361c4,2,24
$SOUNDSPEED,1465.0
$GPS,040114,121247,4807.774,-12223.660,10,1.9,17,18.0