version: 66.12
glider: 99
mission: 78
dive: 131
start: 1 4 114 12 18 6
data:
$ID,99
$MISSION,78
$DIVE,131
$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,-1250050.6
$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,8
$R_STBD_OVSHOOT,22
$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
$GPS1,040114,121247,4807.774,-12223.660,10,1.9,17,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,040114,121702,4807.745,-12223.623,11,1.3,21,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.043,-0.151
$KALMAN_X,16445.3,48.4,-33.9,-16499.4,82.8
$KALMAN_Y,-3429.1,197.1,85.6,3203.6,183.7
$MHEAD_RNG_PITCHd_Wd,146.0,6032,-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,-146.0,339,1927,1869,1945,0.0,0.0,0,84,0.00,0.15,-60.58,0.000,16390,0.000,0.000,338,2088,3722,3659,3786,0,0,0,0,0,0,28.83,24.18,24.19
$GC,88,-0.84,-146.0,340,2087,3655,3785,0.0,-0.1,6,101,6.10,2.88,0.00,0.000,2564,0.000,0.000,1540,569,3726,3649,3803,0,0,0,0,0,0,24.18,24.18,28.83
$GC,117,-0.84,-146.0,1542,570,3639,3787,3.3,-6.3,9,122,0.00,2.75,-0.12,0.000,17414,0.000,0.000,1542,2027,3737,3681,3794,0,0,0,0,0,0,28.83,24.18,24.19
$GC,426,-0.84,-146.0,1542,2043,3660,3783,25.4,-5.6,40,430,0.00,2.70,-0.03,0.000,16644,0.000,0.000,1543,3466,3723,3650,3797,0,0,0,0,0,0,28.83,24.18,24.13
$GC,710,-0.84,-146.0,1544,3463,3644,3806,41.5,-5.6,67,716,0.00,2.83,0.00,0.000,1030,0.000,0.000,1542,1954,3713,3637,3789,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1031,-0.84,-146.0,1543,1952,3635,3783,59.1,-5.4,91,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,1948,3716,3647,3786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1327,-0.84,-146.0,1543,1950,3645,3796,75.0,-5.4,106,1332,0.00,2.70,0.00,0.000,260,0.000,0.000,1543,3452,3721,3642,3800,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1402,-0.84,-146.0,1543,3472,3659,3785,78.7,-5.8,109,1406,0.00,2.80,0.00,0.000,1030,0.000,0.000,1543,1987,3715,3644,3787,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1710,-0.84,-146.0,1544,1986,3652,3790,94.0,-2.7,125,1712,0.00,0.00,-0.03,0.000,16390,0.000,0.000,1542,1996,3726,3649,3803,0,0,0,0,0,0,28.83,28.83,24.13
$GC,2009,-0.84,-146.0,1542,1992,3662,3791,82.1,6.4,140,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,1985,3706,3634,3779,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2105,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2108,begin apogee
$GC,2116,-0.31,0.0,1543,1982,3638,3805,75.7,6.6,145,2239,0.68,0.05,119.05,0.001,10246,0.000,0.001,1670,1984,3135,3080,3191,0,0,0,0,0,0,24.18,24.18,24.12
$STATE,2245,end apogee,CONTROL_FINISHED_OK
$STATE,2245,begin climb
$GC,2248,0.84,146.0,1675,1986,3074,3203,68.0,0.0,151,2375,1.15,0.00,122.40,0.001,10502,0.000,0.000,1893,1986,2531,2482,2581,0,0,0,0,0,0,24.17,28.83,24.12
$GC,2668,0.84,146.0,1899,1985,2478,2596,39.3,6.7,180,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,1991,2531,2480,2583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2972,0.84,146.0,1892,1991,2488,2590,21.5,5.6,210,2976,0.00,0.00,0.08,0.000,8198,0.000,0.000,1894,1980,2538,2490,2586,0,0,0,0,0,0,28.83,28.83,24.13
$GC,3279,0.84,146.0,1898,1986,2496,2601,3.6,5.4,241,3286,0.00,2.60,0.00,0.000,260,0.000,0.000,1896,3436,2537,2484,2590,0,0,0,0,0,0,28.83,24.18,28.83
$STATE,3317,end climb,SURFACE_DEPTH_REACHED
$STATE,3317,begin surface coast
$STATE,3375,end surface coast,CONTROL_FINISHED_OK
$STATE,3375,begin surface
$SM_CCo,3398,98.53,0.000,0,0,1903,300.25
$SM_GC,-0.00,8.00,2.72,98.53,0.000,0.000,0.000,338,2011,1903,-6.36,0.11,300.25,0,0,0,0,0,0,24.18,24.18,24.15
$RAFOS_CLK,10
$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,64.96
$INTERNAL_PRESSURE,16.1334
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.7,0.0
$SC_FREEKB,3936384
$24V_AH,24.0,187.826
$10V_AH,10.5,71.773
$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,15.925,22.350,241.525,98.525,0.000,0.000,0.000,68.575,0.000,0.000,22.428,0.000,2090.858,379.957,924.996,358.660,33.223,731.438,0.000,717.950,0.000,32.642,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,1144.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.857,0.000,0.000,0.000
$MEM,306888
$DATA_FILE_SIZE,6811,249
$CAP_FILE_SIZE,146331,0
$CFSIZE,260165632,238030848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,040114,131714,4807.490,-12223.572,12,1.8,17,18.0