version: 66.12
glider: 99
mission: 78
dive: 167
start: 1 6 114 3 26 21
data:
$ID,99
$MISSION,78
$DIVE,167
$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,-1250095.6
$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,3
$R_STBD_OVSHOOT,44
$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
$GPS1,060114,032041,4804.921,-12221.240,31,2.0,37,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,060114,032517,4804.933,-12221.233,27,1.7,33,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.020,0.082
$KALMAN_X,20970.7,186.1,-121.5,-18114.7,207.9
$KALMAN_Y,470.2,-242.5,251.7,-5631.4,-187.8
$MHEAD_RNG_PITCHd_Wd,355.9,314,-27.0,-5.026,-30.77,904
$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,-1.72,-30.6,328,2000,577,599,0.0,0.0,0,108,0.00,0.05,-88.75,0.000,16390,0.000,0.000,327,2007,3254,3197,3311,0,0,0,0,0,0,28.83,24.17,24.19
$GC,112,-1.72,-30.6,328,2000,3181,3324,4.2,-10.1,9,122,5.12,2.72,-0.03,0.000,18948,0.000,0.000,1338,566,3251,3180,3323,0,0,0,0,0,0,24.18,24.18,24.15
$GC,404,-1.72,-30.6,1334,567,3178,3308,22.9,-5.6,37,408,0.00,2.65,-0.03,0.000,17414,0.000,0.000,1336,1968,3242,3187,3298,0,0,0,0,0,0,28.83,24.18,24.15
$GC,719,-1.72,-30.6,1335,1972,3191,3322,39.0,-5.2,68,724,0.00,2.62,0.00,0.000,516,0.000,0.000,1335,522,3256,3189,3324,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1009,-1.72,-30.6,1337,523,3192,3316,55.4,-5.8,92,1014,0.00,2.78,0.00,0.000,1030,0.000,0.000,1336,2061,3247,3182,3313,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1328,-1.72,-30.6,1336,2055,3192,3327,74.6,-5.9,108,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,1336,2069,3240,3173,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1632,-1.72,-30.6,1337,2059,3159,3319,92.0,-5.7,123,1636,0.00,2.70,0.00,0.000,516,0.000,0.000,1332,574,3242,3181,3304,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1642,-1.72,-30.6,1337,575,3175,3324,92.0,-5.7,123,1646,0.00,2.72,0.00,0.000,1030,0.000,0.000,1333,2052,3248,3183,3314,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1950,-1.87,-146.0,1337,2051,3177,3306,74.8,9.0,139,1980,0.20,0.00,-15.62,0.000,20486,0.000,0.000,1302,2058,3696,3617,3775,0,0,0,0,0,0,24.17,28.83,24.19
$STATE,2254,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2254,begin apogee
$GC,2262,-0.31,0.0,1303,1949,3651,3801,46.4,9.1,156,2390,1.73,0.25,117.85,0.001,10246,0.000,0.000,1651,2042,3133,3073,3194,0,0,0,0,0,0,24.18,24.18,24.13
$STATE,2393,end apogee,CONTROL_FINISHED_OK
$STATE,2393,begin climb
$GC,2396,1.87,146.0,1650,2038,3068,3204,34.8,0.0,169,2530,2.47,0.00,121.57,0.001,10758,0.000,0.000,2118,2044,2534,2484,2585,0,0,0,0,0,0,24.18,28.83,24.12
$GC,2828,1.90,177.3,2117,2035,2489,2593,2.6,1.5,213,2857,0.00,2.95,20.02,0.000,8708,0.000,0.000,2107,531,2408,2362,2455,0,0,0,0,0,0,28.83,24.17,24.15
$STATE,3119,end climb,SURFACE_DEPTH_REACHED
$STATE,3119,begin surface coast
$FINISH,-0.0,-1.140109
$STATE,3150,end surface coast,CONTROL_FINISHED_OK
$STATE,3150,begin surface
$SM_CCo,3175,78.07,0.000,0,0,1907,301.23
$SM_GC,-0.00,9.15,2.80,78.07,0.000,0.000,0.000,332,2007,1907,-6.27,0.11,301.23,0,0,0,0,0,0,24.18,24.18,24.14
$RAFOS_CLK,17
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.066661,0.066661
$HUMID,62.36
$INTERNAL_PRESSURE,16.1041
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,71.0,0.0
$SC_FREEKB,3931520
$24V_AH,24.0,188.539
$10V_AH,10.5,72.885
$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,18.675,22.700,259.450,78.075,0.000,0.000,0.000,70.650,0.000,0.000,34.469,0.000,1862.685,388.388,934.000,346.047,33.212,802.765,0.000,686.994,0.000,23.840,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,775.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.319,0.000,0.000,0.000
$MEM,307000
$DATA_FILE_SIZE,6793,244
$CAP_FILE_SIZE,141151,0
$CFSIZE,260165632,236187648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,060114,042145,4805.048,-12221.167,30,2.0,37,18.0