version: 66.12
glider: 99
mission: 78
dive: 161
start: 1 5 114 20 38 22
data:
$ID,99
$MISSION,78
$DIVE,161
$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,-1250088.1
$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,36
$R_STBD_OVSHOOT,3
$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
$GPS1,050114,203246,4806.485,-12222.437,9,1.9,13,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,050114,203717,4806.490,-12222.429,23,1.8,30,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.029,-0.154
$KALMAN_X,19595.2,115.5,197.8,-18467.4,211.5
$KALMAN_Y,481.1,47.7,-244.7,-2553.2,79.0
$MHEAD_RNG_PITCHd_Wd,151.3,3277,-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,-146.0,318,2014,1865,1938,0.0,0.0,0,80,0.00,0.00,-60.42,0.000,16390,0.000,0.000,317,2037,3708,3637,3780,0,0,0,0,0,0,28.83,28.83,24.19
$GC,84,-0.84,-146.0,318,2033,3643,3793,0.0,-0.1,6,97,6.12,2.72,0.00,0.000,2564,0.000,0.000,1548,598,3721,3652,3790,0,0,0,0,0,0,24.18,24.18,28.83
$GC,153,-0.84,-146.0,1548,601,3629,3783,9.4,-11.9,13,160,0.00,2.70,-0.05,0.000,17414,0.000,0.000,1546,2100,3701,3624,3778,0,0,0,0,0,0,28.83,24.18,24.19
$GC,469,-0.84,-146.0,1544,2097,3644,3779,28.2,-5.6,44,472,0.00,2.83,0.00,0.000,516,0.000,0.000,1544,519,3707,3635,3779,0,0,0,0,0,0,28.83,24.18,28.83
$GC,752,-0.84,-146.0,1547,519,3621,3779,43.2,-5.3,71,759,0.00,2.75,-0.38,0.000,17414,0.000,0.000,1544,2011,3723,3647,3800,0,0,0,0,0,0,28.83,24.18,24.19
$GC,1073,-0.84,-146.0,1543,2010,3655,3806,59.7,-5.3,94,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2014,3721,3659,3783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1371,-0.84,-146.0,1547,2016,3631,3779,75.3,-5.2,109,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2012,3708,3638,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1679,-0.84,-146.0,1545,2014,3654,3805,90.8,-5.2,124,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,2010,3713,3639,3788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1975,-0.84,-146.0,1537,2008,3648,3792,89.2,5.0,139,1979,0.00,2.58,-0.05,0.000,16900,0.000,0.000,1544,573,3724,3640,3808,0,0,0,0,0,0,28.83,24.18,24.18
$STATE,2261,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2261,begin apogee
$GC,2272,-0.31,0.0,1544,2062,3643,3805,71.2,6.2,153,2399,0.68,0.03,119.15,0.001,10246,0.000,0.000,1658,2026,3135,3076,3195,0,0,0,0,0,0,24.18,24.18,24.13
$STATE,2400,end apogee,CONTROL_FINISHED_OK
$STATE,2400,begin climb
$GC,2404,0.84,146.0,1658,2036,3074,3193,63.4,0.0,159,2533,1.25,0.00,122.45,0.001,10246,0.000,0.000,1908,2029,2540,2489,2592,0,0,0,0,0,0,24.18,28.83,24.13
$GC,2826,0.84,146.0,1890,2031,2485,2595,35.3,6.1,192,2832,0.00,0.00,3.20,0.000,8198,0.000,0.000,1893,2035,2531,2482,2580,0,0,0,0,0,0,28.83,28.83,24.13
$GC,3142,0.84,146.0,1894,2032,2493,2585,17.1,6.0,223,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,1892,2040,2543,2481,2605,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3421,end climb,SURFACE_DEPTH_REACHED
$STATE,3421,begin surface coast
$STATE,3458,end surface coast,CONTROL_FINISHED_OK
$STATE,3458,begin surface
$SM_CCo,3480,98.28,0.000,0,0,1907,300.25
$SM_GC,-0.00,8.00,0.15,98.28,0.000,0.000,0.000,314,2000,1907,-6.36,0.25,300.25,0,0,0,0,0,0,24.18,24.17,24.15
$RAFOS_CLK,21
$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,62.01
$INTERNAL_PRESSURE,16.1432
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.1,0.0
$SC_FREEKB,3932352
$24V_AH,24.0,188.404
$10V_AH,10.5,72.701
$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,16.050,16.775,244.800,98.275,0.000,0.000,0.000,71.050,0.000,0.000,30.788,0.000,2076.696,361.602,1024.190,390.491,33.223,745.807,0.000,867.299,0.000,27.058,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2411.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.720,0.000,0.000,0.000
$MEM,306868
$DATA_FILE_SIZE,6815,255
$CAP_FILE_SIZE,174461,0
$CFSIZE,260165632,236462080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,050114,213859,4806.226,-12222.136,14,1.9,24,18.0