version: 66.12
glider: 99
mission: 78
dive: 158
start: 1 5 114 17 16 47
data:
$ID,99
$MISSION,78
$DIVE,158
$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,75
$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,-1250084.4
$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,4
$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
$GPS1,050114,171109,4807.418,-12223.374,10,1.5,20,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,050114,171543,4807.429,-12223.389,25,2.0,32,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.045,-0.150
$KALMAN_X,19045.6,-5.9,-87.5,-18701.0,256.2
$KALMAN_Y,-173.0,298.1,148.3,-802.7,-79.8
$MHEAD_RNG_PITCHd_Wd,145.4,5383,-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,-146.0,358,1988,1868,1945,0.0,0.0,0,84,0.00,0.17,-60.60,0.000,16390,0.000,0.000,356,2081,3709,3632,3787,0,0,0,0,0,0,28.83,24.17,24.19
$GC,88,-0.84,-146.0,357,2089,3664,3800,0.0,-0.1,6,102,6.00,2.58,0.00,0.000,2820,0.000,0.000,1531,3475,3719,3655,3783,0,0,0,0,0,0,24.18,24.18,28.83
$GC,107,-0.84,-146.0,1530,3460,3663,3799,2.3,-4.8,8,112,0.00,2.80,0.00,0.000,1030,0.000,0.000,1532,1972,3725,3665,3785,0,0,0,0,0,0,28.83,24.17,28.83
$GC,414,-0.84,-146.0,1531,1973,3658,3779,25.4,-5.4,39,417,0.00,2.60,0.00,0.000,516,0.000,0.000,1532,587,3694,3628,3761,0,0,0,0,0,0,28.83,24.18,28.83
$GC,692,-0.84,-146.0,1534,586,3628,3790,39.9,-5.4,66,697,0.00,2.75,0.00,0.000,1030,0.000,0.000,1533,2030,3722,3651,3794,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1003,-0.84,-146.0,1524,2035,3654,3786,56.5,-5.3,91,1008,0.00,2.67,-0.08,0.000,16900,0.000,0.000,1530,569,3728,3657,3800,0,0,0,0,0,0,28.83,24.17,24.18
$GC,1288,-0.84,-146.0,1531,570,3644,3800,70.2,-5.1,104,1293,0.00,2.70,0.00,0.000,1030,0.000,0.000,1531,2018,3721,3659,3783,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1596,-0.84,-146.0,1533,2015,3645,3793,86.5,-5.0,120,1597,0.00,0.00,-0.05,0.000,16390,0.000,0.000,1528,2014,3719,3641,3797,0,0,0,0,0,0,28.83,28.83,24.17
$GC,1895,-0.84,-146.0,1530,2013,3635,3789,93.5,1.6,135,1896,0.00,0.00,-0.17,0.000,16390,0.000,0.000,1528,2010,3726,3644,3808,0,0,0,0,0,0,28.83,28.83,24.18
$GC,2197,-0.84,-146.0,1533,2018,3645,3795,76.5,6.0,150,2201,0.00,2.67,0.00,0.000,516,0.000,0.000,1534,558,3724,3660,3789,0,0,0,0,0,0,28.83,24.18,28.83
$STATE,2254,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2254,begin apogee
$GC,2264,-0.31,0.0,1530,1993,3643,3788,72.7,6.1,153,2388,0.77,0.03,118.72,0.001,10246,0.000,0.000,1662,2087,3131,3062,3201,0,0,0,0,0,0,24.18,24.18,24.13
$STATE,2393,end apogee,CONTROL_FINISHED_OK
$STATE,2393,begin climb
$GC,2397,0.84,146.0,1662,2079,3076,3189,64.9,0.0,159,2524,1.25,0.00,124.15,0.001,10246,0.000,0.000,1898,2078,2527,2478,2576,0,0,0,0,0,0,24.18,28.83,24.12
$GC,2820,0.84,146.0,1891,2072,2512,2581,38.8,5.4,190,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,2075,2542,2484,2601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3128,0.84,146.0,1897,2076,2485,2586,21.9,5.4,221,3134,0.00,2.47,0.00,0.000,260,0.000,0.000,1895,3411,2531,2483,2580,0,0,0,0,0,0,28.83,24.18,28.83
$GC,3424,0.84,146.0,1896,3438,2501,2585,6.7,5.1,249,3430,0.00,2.70,0.00,0.000,1030,0.000,0.000,1900,1988,2540,2492,2588,0,0,0,0,0,0,28.83,24.18,28.83
$STATE,3524,end climb,SURFACE_DEPTH_REACHED
$STATE,3524,begin surface coast
$FINISH,0.3,0.000000
$STATE,3567,end surface coast,CONTROL_FINISHED_OK
$STATE,3567,begin surface
$SM_CCo,3588,97.57,0.000,0,0,1908,300.25
$SM_GC,-0.00,7.88,0.00,97.57,0.000,0.000,0.000,354,1990,1908,-6.28,-0.08,300.25,0,0,0,0,0,0,24.18,28.83,24.14
$RAFOS_CLK,12
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.042693,0.042693
$HUMID,61.53
$INTERNAL_PRESSURE,16.1725
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.2,0.0
$SC_FREEKB,3932736
$24V_AH,24.0,188.349
$10V_AH,10.5,72.605
$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,15.900,26.925,242.875,97.575,0.000,0.000,0.000,71.975,0.000,0.000,33.781,0.000,2190.963,386.946,1013.748,368.078,33.219,786.015,0.000,781.964,0.000,23.851,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,1190.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.422,0.000,0.000,0.000
$MEM,306944
$DATA_FILE_SIZE,6812,263
$CAP_FILE_SIZE,153969,0
$CFSIZE,260165632,236642304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,050114,181917,4807.151,-12222.926,22,1.8,32,18.0