version: 66.12
glider: 99
mission: 78
dive: 166
start: 1 6 114 2 16 45
data:
$ID,99
$MISSION,78
$DIVE,166
$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,-1250094.4
$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,7
$R_STBD_OVSHOOT,8
$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
$GPS1,060114,021114,4805.236,-12221.099,13,1.8,19,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,060114,021541,4805.116,-12221.049,22,2.0,28,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.066,-0.057
$KALMAN_X,21073.1,93.4,-166.8,-17856.4,312.2
$KALMAN_Y,619.4,-224.1,207.3,-5412.5,-4.3
$MHEAD_RNG_PITCHd_Wd,211.3,224,-26.0,-5.026,-29.89,969
$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,-1.66,-32.8,315,2004,1865,1944,0.0,0.0,0,67,0.00,0.00,-44.70,0.000,16390,0.000,0.000,315,2003,3238,3172,3305,0,0,0,0,0,0,28.83,28.83,24.19
$GC,74,-1.72,-78.5,315,2011,3194,3330,0.1,-0.2,5,88,5.30,0.00,-6.60,0.000,18438,0.000,0.000,1360,2000,3427,3361,3494,0,0,0,0,0,0,24.18,28.83,24.19
$GC,392,-1.72,-78.5,1362,2000,3374,3519,22.1,-5.5,37,397,0.00,0.00,-0.22,0.000,16390,0.000,0.000,1361,1999,3453,3368,3539,0,0,0,0,0,0,28.83,28.83,24.18
$GC,699,-1.72,-78.5,1359,1997,3373,3497,38.8,-5.0,68,699,0.00,0.00,0.00,0.000,6,0.000,0.000,1359,1997,3430,3367,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1006,-1.72,-78.5,1360,1994,3415,3503,54.3,-5.1,94,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,1361,1996,3435,3365,3506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1304,-1.72,-78.5,1360,1998,3375,3492,69.8,-5.4,109,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,1360,1998,3454,3381,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1604,-1.72,-78.5,1360,2000,3376,3512,85.5,-5.4,124,1605,0.00,0.00,-0.03,0.000,16390,0.000,0.000,1360,2003,3441,3372,3510,0,0,0,0,0,0,28.83,28.83,24.13
$GC,1903,-1.80,-146.0,1361,2014,3367,3508,85.4,8.4,139,1914,0.30,0.00,-8.95,0.000,20486,0.000,0.000,1299,1997,3713,3643,3784,0,0,0,0,0,0,24.18,28.83,24.19
$GC,2205,-1.80,-146.0,1298,2003,3630,3776,57.0,9.2,154,2207,0.28,0.00,-0.38,0.000,18438,0.000,0.000,1335,1996,3723,3652,3794,0,0,0,0,0,0,24.17,28.83,24.19
$STATE,2261,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2261,begin apogee
$GC,2268,-0.31,0.0,1334,1995,3637,3798,51.4,9.3,157,2395,1.67,0.00,118.07,0.001,10246,0.000,0.000,1675,2001,3140,3078,3202,0,0,0,0,0,0,24.18,28.83,24.13
$STATE,2397,end apogee,CONTROL_FINISHED_OK
$STATE,2401,begin climb
$GC,2404,1.80,146.0,1677,2007,3073,3192,40.0,0.0,169,2536,2.25,0.00,122.60,0.001,10246,0.000,0.000,2116,2001,2541,2493,2589,0,0,0,0,0,0,24.18,28.83,24.13
$GC,2838,1.80,146.0,2124,1999,2484,2590,5.8,5.5,213,2846,0.00,2.67,0.35,0.000,8452,0.000,0.000,2120,3475,2535,2488,2583,0,0,0,0,0,0,28.83,24.18,24.14
$GC,3136,1.87,203.9,2108,3471,2484,2589,5.1,-1.1,241,3200,0.00,2.83,53.50,0.001,9222,0.000,0.000,2111,1958,2300,2256,2345,0,0,0,0,1,0,28.83,24.18,24.13
$STATE,3309,end climb,SURFACE_DEPTH_REACHED
$STATE,3310,begin surface coast
$STATE,3383,end surface coast,CONTROL_FINISHED_OK
$STATE,3383,begin surface
$SM_CCo,3389,266.92,0.000,0,0,587,622.57
$SM_GC,-0.00,9.12,0.17,0.00,0.000,0.000,0.000,327,2049,587,-6.31,0.14,622.57,0,0,0,0,0,0,24.18,24.17,28.83
$RAFOS_CLK,45
$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,61.81
$INTERNAL_PRESSURE,16.1041
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.8,0.0
$SC_FREEKB,3931712
$24V_AH,24.0,188.523
$10V_AH,10.5,72.854
$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,18.925,5.675,294.525,266.925,0.000,0.000,0.000,70.525,0.000,0.000,28.797,0.000,2190.761,559.347,920.531,363.633,33.220,937.917,0.000,706.504,0.000,23.854,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,21.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.712,0.000,0.000,0.000
$MEM,306900
$DATA_FILE_SIZE,6810,266
$CAP_FILE_SIZE,149127,0
$CFSIZE,260165632,236228608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$GPS,060114,032041,4804.921,-12221.240,31,2.0,37,18.0