version: 66.12
glider: 99
mission: 78
dive: 132
start: 1 4 114 13 22 43
data:
$ID,99
$MISSION,78
$DIVE,132
$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,-1250051.9
$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,1
$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
$GPS1,040114,131714,4807.490,-12223.572,12,1.8,17,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,040114,132139,4807.475,-12223.562,17,2.0,24,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.080,-0.135
$KALMAN_X,16345.7,69.4,-34.9,-16339.3,36.2
$KALMAN_Y,-3514.4,259.5,179.7,2631.0,19.9
$MHEAD_RNG_PITCHd_Wd,131.4,5573,-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,-146.0,338,2008,1863,1942,0.0,0.0,0,80,0.00,0.12,-60.58,0.000,16390,0.000,0.000,339,1971,3702,3627,3778,0,0,0,0,0,0,28.83,24.18,24.19
$GC,84,-0.84,-146.0,339,1992,3637,3787,0.0,-0.1,6,97,6.05,2.72,0.00,0.000,2564,0.000,0.000,1543,507,3704,3635,3773,0,0,0,0,0,0,24.17,24.18,28.83
$GC,401,-0.84,-146.0,1543,508,3653,3781,25.1,-6.1,35,407,0.00,2.80,-0.52,0.000,17414,0.000,0.000,1543,2038,3719,3651,3788,0,0,0,0,0,0,28.83,24.18,24.19
$GC,718,-0.84,-146.0,1543,2050,3655,3801,43.6,-5.2,67,722,0.00,0.00,-0.03,0.000,16390,0.000,0.000,1538,2040,3731,3665,3797,0,0,0,0,0,0,28.83,28.83,24.13
$GC,1035,-0.84,-146.0,1544,2039,3658,3809,61.4,-5.6,89,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,2044,3721,3656,3786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1333,-0.84,-146.0,1540,2038,3658,3801,77.2,-4.6,104,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2042,3732,3657,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1638,-0.84,-146.0,1535,2045,3649,3807,92.8,-5.0,119,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,2033,3725,3650,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1938,-0.84,-146.0,1541,2040,3642,3809,87.1,5.8,134,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,2045,3733,3645,3822,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2115,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2115,begin apogee
$GC,2122,-0.31,0.0,1539,2017,3658,3808,76.4,5.9,143,2246,0.60,0.00,121.22,0.001,10246,0.000,0.000,1650,1993,3127,3065,3190,0,0,0,0,0,0,24.18,28.83,24.12
$STATE,2251,end apogee,CONTROL_FINISHED_OK
$STATE,2251,begin climb
$GC,2254,0.84,146.0,1652,2000,3070,3196,69.1,0.0,149,2382,1.45,0.00,123.10,0.001,10246,0.000,0.000,1923,2001,2546,2488,2605,0,0,0,0,0,0,24.18,28.83,24.13
$GC,2672,0.84,146.0,1925,2001,2475,2587,42.7,5.6,176,2677,0.28,0.00,0.00,0.000,4102,0.000,0.000,1896,1998,2539,2495,2583,0,0,0,0,0,0,24.17,28.83,28.83
$GC,2980,0.84,146.0,1892,1998,2494,2578,25.7,5.1,207,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,1996,2530,2483,2578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3288,0.84,146.0,1898,1997,2481,2585,9.0,5.2,237,3291,0.00,2.75,0.00,0.000,516,0.000,0.000,1894,554,2534,2490,2579,0,0,0,0,0,0,28.83,24.18,28.83
$GC,3330,0.84,146.3,1894,555,2493,2584,7.3,5.0,240,3334,0.00,2.75,0.00,0.000,1030,0.000,0.000,1882,2029,2537,2482,2592,0,0,0,0,0,0,28.83,24.18,28.83
$STATE,3440,end climb,SURFACE_DEPTH_REACHED
$STATE,3441,begin surface coast
$STATE,3491,end surface coast,CONTROL_FINISHED_OK
$STATE,3491,begin surface
$SM_CCo,3512,97.78,0.000,0,0,1904,300.74
$SM_GC,-0.00,8.00,0.20,97.78,0.000,0.000,0.000,322,1920,1904,-6.32,-0.23,300.74,0,0,0,0,0,0,24.18,24.17,24.14
$RAFOS_CLK,22
$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,64.68
$INTERNAL_PRESSURE,16.153
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.4,0.0
$SC_FREEKB,3936256
$24V_AH,24.0,187.844
$10V_AH,10.7,71.805
$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,16.375,11.600,244.325,97.775,0.000,0.000,0.000,72.525,0.000,0.000,25.678,0.000,2141.551,305.394,1036.833,395.547,33.221,718.056,0.000,855.585,0.000,27.029,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2259.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.291,0.000,0.000,0.000
$MEM,306848
$DATA_FILE_SIZE,6822,257
$CAP_FILE_SIZE,173214,0
$CFSIZE,260165632,237953024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,040114,142358,4807.270,-12223.151,22,1.6,30,18.0