version: 66.12
glider: 99
mission: 78
dive: 137
start: 1 4 114 18 54 44
data:
$ID,99
$MISSION,78
$DIVE,137
$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,70
$T_MISSION,80
$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,-1250058.1
$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,44
$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
$GPS1,040114,184758,4806.068,-12221.966,23,1.5,28,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,040114,185342,4806.072,-12221.990,26,2.0,32,18.0
$SPEED_LIMITS,0.045,0.055
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.007,-0.055
$KALMAN_X,17186.2,53.0,109.4,-15367.0,121.6
$KALMAN_Y,-3150.6,30.0,-159.5,232.7,-18.2
$MHEAD_RNG_PITCHd_Wd,154.2,2333,-36.2,-4.524,-39.32,492
$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,-2.28,-14.7,353,2056,1867,1942,0.0,0.0,0,62,0.00,0.22,-42.42,0.000,16390,0.000,0.000,352,1971,3179,3112,3246,0,0,0,0,0,0,28.83,24.18,24.19
$GC,65,-2.28,-14.7,353,1980,3104,3244,-0.0,0.0,4,75,4.38,2.65,-0.10,0.000,18692,0.000,0.000,1219,3431,3177,3113,3242,0,0,0,0,0,0,24.18,24.18,24.19
$GC,376,-2.29,-20.4,1216,3438,3109,3240,12.3,-3.3,32,381,0.00,2.72,-0.82,0.000,17414,0.000,0.000,1220,1981,3202,3138,3267,0,0,0,0,0,0,28.83,24.18,24.19
$GC,685,-2.29,-20.4,1219,1983,3128,3255,25.7,-5.4,63,686,0.00,0.00,-0.17,0.000,16390,0.000,0.000,1220,1989,3206,3141,3272,0,0,0,0,0,0,28.83,28.83,24.18
$GC,988,-2.29,-20.4,1221,1984,3149,3264,40.7,-4.8,93,992,0.00,0.00,0.00,0.000,6,0.000,0.000,1219,1986,3234,3155,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1313,-2.29,-20.4,1222,1978,3176,3262,55.3,-5.0,120,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,1222,1992,3214,3137,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1614,-2.29,-20.5,1222,1979,3156,3272,69.8,-4.5,135,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,1221,1986,3212,3150,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1914,-2.29,-22.5,1221,1985,3136,3267,82.3,-4.1,150,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,1220,1980,3204,3136,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2213,-2.31,-38.4,1221,1986,3130,3277,93.0,-1.2,165,2216,0.00,0.00,-2.55,0.000,16390,0.000,0.000,1220,1989,3299,3246,3352,0,0,0,0,0,0,28.83,28.83,24.18
$STATE,2414,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2414,begin apogee
$GC,2421,-0.31,0.0,1221,2025,3193,3332,73.0,11.0,175,2459,2.33,0.17,29.45,0.001,10246,0.000,0.000,1669,1921,3135,3070,3201,0,0,0,0,0,0,24.18,24.18,24.13
$STATE,2462,end apogee,CONTROL_FINISHED_OK
$STATE,2462,begin climb
$GC,2466,2.31,38.4,1666,1922,3087,3205,68.9,0.0,177,2507,2.70,0.00,35.15,0.001,10246,0.000,0.000,2226,1924,2976,2918,3034,0,0,0,0,0,0,24.18,28.83,24.13
$GC,2808,2.31,38.4,2225,1919,2928,3046,33.2,9.5,203,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1922,2975,2917,3034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3116,2.31,38.4,2225,1922,2922,3063,6.8,8.3,233,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,1916,2969,2915,3023,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3182,end climb,SURFACE_DEPTH_REACHED
$STATE,3183,begin surface coast
$FINISH,0.9,-1.138324
$STATE,3203,end surface coast,CONTROL_FINISHED_OK
$STATE,3203,begin surface
$SM_CCo,3225,167.12,0.000,0,0,1906,300.00
$SM_GC,-0.01,9.57,0.30,167.12,0.000,0.000,0.000,328,2013,1906,-6.30,0.79,300.00,0,0,0,0,0,0,24.18,24.18,24.15
$RAFOS_CLK,20
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.063665,0.063665
$HUMID,63.86
$INTERNAL_PRESSURE,16.153
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.7,0.0
$SC_FREEKB,3935552
$24V_AH,24.0,187.949
$10V_AH,10.7,71.961
$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,18.975,6.400,64.600,167.125,0.000,0.000,0.000,101.625,0.000,0.000,33.833,0.000,2146.296,270.634,927.659,368.155,33.217,608.176,0.000,712.754,0.000,21.077,0.000
$DEVICE_MAMPS,119.000,60.000,0.765,600.000,0.000,0.000,0.000,55.080,0.000,0.000,50.000,0.000,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,755.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.892,0.000,0.000,0.000
$MEM,306848
$DATA_FILE_SIZE,6811,242
$CAP_FILE_SIZE,148175,1
$CFSIZE,260165632,237715456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,040114,195230,4805.860,-12221.906,31,1.3,39,18.0