version: 66.12
glider: 99
mission: 78
dive: 159
start: 1 5 114 18 24 40
data:
$ID,99
$MISSION,78
$DIVE,159
$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,-1250085.6
$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,2
$R_STBD_OVSHOOT,28
$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
$GPS1,050114,181917,4807.151,-12222.926,22,1.8,32,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,050114,182336,4807.167,-12222.953,11,1.9,18,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.016,-0.156
$KALMAN_X,19319.0,5.7,-5.4,-18530.4,319.3
$KALMAN_Y,185.4,194.4,-29.2,-1369.3,-37.9
$MHEAD_RNG_PITCHd_Wd,156.3,4685,-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,-146.0,354,2020,1869,1949,0.0,0.0,0,80,0.00,0.12,-60.30,0.000,16390,0.000,0.000,354,1936,3712,3627,3798,0,0,0,0,0,0,28.83,24.18,24.19
$GC,84,-0.84,-146.0,355,1936,3631,3774,0.1,-0.2,6,100,5.95,2.58,-0.08,0.000,18948,0.000,0.000,1535,545,3709,3629,3789,0,0,0,0,0,0,24.18,24.18,24.19
$GC,389,-0.84,-146.0,1534,547,3660,3774,22.4,-5.6,35,394,0.00,2.80,0.00,0.000,1030,0.000,0.000,1533,2020,3709,3642,3776,0,0,0,0,0,0,28.83,24.18,28.83
$GC,700,-0.84,-146.0,1533,2002,3629,3800,38.6,-5.2,66,701,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,2001,3707,3628,3787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1002,-0.84,-146.0,1533,2005,3651,3811,53.1,-5.0,93,1006,0.00,2.65,0.00,0.000,516,0.000,0.000,1533,545,3714,3651,3777,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1292,-0.84,-146.0,1542,546,3630,3772,67.3,-4.9,107,1296,0.00,2.78,0.00,0.000,1030,0.000,0.000,1535,2080,3705,3630,3780,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1607,-0.84,-146.0,1532,2085,3641,3777,83.1,-5.1,123,1612,0.00,2.85,-0.03,0.000,16900,0.000,0.000,1531,533,3704,3629,3780,0,0,0,0,0,0,28.83,24.18,24.14
$GC,1894,-0.84,-146.0,1535,533,3635,3788,94.9,-1.8,137,1898,0.00,2.78,0.00,0.000,1030,0.000,0.000,1525,2050,3707,3634,3781,0,0,0,0,0,0,28.83,24.18,28.83
$STATE,1903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1903,begin apogee
$GC,1911,-0.31,0.0,1536,1946,3654,3810,95.1,-1.6,138,2034,0.75,0.17,118.57,0.001,10246,0.000,0.000,1662,2024,3121,3063,3179,0,0,0,0,0,0,24.18,24.18,24.12
$STATE,2039,end apogee,CONTROL_FINISHED_OK
$STATE,2039,begin climb
$GC,2042,0.84,146.0,1659,2032,3047,3187,91.8,0.0,144,2174,1.25,2.55,122.50,0.001,10500,0.000,0.000,1877,3395,2532,2483,2582,0,0,0,0,0,0,24.18,24.18,24.13
$GC,2448,0.84,146.0,1890,3402,2481,2578,65.9,6.7,165,2452,0.00,2.70,0.00,0.000,1030,0.000,0.000,1897,1956,2540,2493,2587,0,0,0,0,0,0,28.83,24.18,28.83
$GC,2760,0.84,146.0,1894,1958,2500,2591,46.2,6.0,184,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,1958,2538,2488,2589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3068,0.84,146.0,1897,1957,2485,2590,28.3,5.6,214,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,1957,2546,2505,2588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3370,0.84,146.0,1887,1959,2502,2593,10.7,5.8,244,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1963,2539,2494,2585,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3525,end climb,SURFACE_DEPTH_REACHED
$STATE,3526,begin surface coast
$STATE,3556,end surface coast,CONTROL_FINISHED_OK
$STATE,3556,begin surface
$SM_CCo,3580,98.50,0.000,0,0,1902,300.98
$SM_GC,-0.00,7.97,0.17,98.50,0.000,0.000,0.000,347,2060,1902,-6.32,-0.20,300.98,0,0,0,0,0,0,24.18,24.17,24.15
$RAFOS_CLK,25
$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,62.12
$INTERNAL_PRESSURE,16.1725
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.0,0.0
$SC_FREEKB,3932608
$24V_AH,24.0,188.367
$10V_AH,10.5,72.638
$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,15.925,22.475,241.075,98.500,0.000,0.000,0.000,71.075,0.000,0.000,19.505,0.000,2073.082,274.115,1177.997,415.783,33.226,793.153,0.000,938.003,0.000,26.668,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,22.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.640,0.000,0.000,0.000
$MEM,306932
$DATA_FILE_SIZE,6816,263
$CAP_FILE_SIZE,184537,0
$CFSIZE,260165632,236556288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,050114,192714,4806.816,-12222.560,30,2.0,40,18.0