version: 66.12
glider: 99
mission: 78
dive: 134
start: 1 4 114 15 36 14
data:
$ID,99
$MISSION,78
$DIVE,134
$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,-1250054.4
$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,2
$R_STBD_OVSHOOT,5
$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
$GPS1,040114,153049,4806.947,-12222.725,19,2.0,26,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,040114,153510,4806.939,-12222.736,17,1.8,23,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.050,-0.149
$KALMAN_X,16892.4,1.4,-72.7,-15764.3,180.9
$KALMAN_Y,-3353.5,214.1,108.5,1592.0,-58.0
$MHEAD_RNG_PITCHd_Wd,143.3,4185,-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,-146.0,353,1954,1864,1937,0.0,0.0,0,84,0.00,0.10,-60.40,0.000,16390,0.000,0.000,352,2037,3711,3629,3794,0,0,0,0,0,0,28.83,24.18,24.19
$GC,88,-0.84,-146.0,353,2036,3641,3834,0.1,-0.3,6,96,5.97,0.00,0.00,0.000,2566,0.000,0.000,1554,2038,3715,3644,3787,0,0,0,0,0,0,24.18,28.83,28.83
$GC,405,-0.84,-146.0,1553,2021,3641,3778,25.1,-5.7,38,409,0.00,2.75,0.00,0.000,516,0.000,0.000,1554,524,3718,3636,3801,0,0,0,0,0,0,28.83,24.18,28.83
$GC,518,-0.84,-146.0,1550,525,3635,3784,30.9,-5.0,48,526,0.00,2.88,-0.15,0.000,17414,0.000,0.000,1551,2040,3711,3643,3780,0,0,0,0,0,0,28.83,24.18,24.19
$GC,829,-0.84,-146.0,1551,2046,3639,3794,47.8,-5.8,79,833,0.00,0.00,0.00,0.000,6,0.000,0.000,1551,2037,3724,3658,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1140,-0.84,-146.0,1550,2042,3629,3777,64.2,-5.0,97,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,1552,2035,3718,3649,3787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1438,-0.84,-146.0,1553,2027,3641,3791,79.5,-5.1,112,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,1554,2041,3728,3657,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1739,-0.84,-146.0,1549,2041,3639,3793,93.9,-3.9,127,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,1553,2045,3706,3630,3782,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1813,begin apogee
$GC,1820,-0.31,0.0,1551,1997,3645,3759,95.1,-1.5,131,1942,0.57,0.00,118.18,0.001,10246,0.000,0.000,1675,2002,3132,3062,3202,0,0,0,0,0,0,24.18,28.83,24.12
$STATE,1948,end apogee,CONTROL_FINISHED_OK
$STATE,1948,begin climb
$GC,1951,0.84,146.0,1682,1998,3078,3197,91.2,0.0,137,2077,1.27,0.00,122.53,0.001,10502,0.000,0.000,1898,1992,2538,2489,2588,0,0,0,0,0,0,24.18,28.83,24.12
$GC,2370,0.84,146.0,1901,1998,2481,2596,63.2,6.3,159,2372,0.00,0.00,0.95,0.000,8198,0.000,0.000,1901,2001,2538,2489,2587,0,0,0,0,0,0,28.83,28.83,24.14
$GC,2671,0.84,146.0,1901,1985,2483,2575,45.1,5.7,178,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1994,2539,2489,2590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2974,0.84,146.0,1896,1998,2490,2577,28.1,6.0,208,2978,0.00,0.00,0.35,0.000,8198,0.000,0.000,1900,1992,2533,2480,2586,0,0,0,0,0,0,28.83,28.83,24.14
$GC,3286,0.84,146.0,1897,1989,2488,2578,10.4,6.0,239,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,1982,2541,2492,2590,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3452,end climb,SURFACE_DEPTH_REACHED
$STATE,3452,begin surface coast
$STATE,3517,end surface coast,CONTROL_FINISHED_OK
$STATE,3517,begin surface
$SM_CCo,3538,98.50,0.000,0,0,1907,300.25
$SM_GC,-0.01,7.95,0.00,98.50,0.000,0.000,0.000,341,1998,1907,-6.35,-0.08,300.25,0,0,0,0,0,0,24.18,28.83,24.14
$RAFOS_CLK,1474
$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,64.13
$INTERNAL_PRESSURE,16.153
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.2,0.0
$SC_FREEKB,3936000
$24V_AH,24.0,187.879
$10V_AH,10.5,71.865
$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,15.775,6.050,242.000,98.500,0.000,0.000,0.000,69.750,0.000,0.000,24.524,0.000,2254.422,371.161,915.143,360.074,33.218,699.640,0.000,723.303,0.000,27.070,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,20.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.614,0.000,0.000,0.000
$MEM,306880
$DATA_FILE_SIZE,6785,262
$CAP_FILE_SIZE,147513,0
$CFSIZE,260165632,237871104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,040114,163809,4806.596,-12222.392,34,2.0,43,18.0