version: 66.12
glider: 99
mission: 78
dive: 168
start: 1 6 114 4 27 10
data:
$ID,99
$MISSION,78
$DIVE,168
$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,-1250096.9
$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,5
$R_STBD_OVSHOOT,5
$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
$GPS1,060114,042145,4805.048,-12221.167,30,2.0,37,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,060114,042606,4805.067,-12221.128,8,1.9,17,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.046,0.020
$KALMAN_X,20925.5,229.1,-63.2,-18042.5,68.7
$KALMAN_Y,585.5,-322.2,147.6,-5318.3,-161.4
$MHEAD_RNG_PITCHd_Wd,48.0,201,-42.5,-5.026,-45.00,390
$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,-2.67,-12.9,333,2011,1867,1946,0.0,0.0,0,62,0.00,0.05,-42.22,0.000,16390,0.000,0.000,331,2007,3182,3114,3251,0,0,0,0,0,0,28.83,24.17,24.19
$GC,65,-2.67,-12.9,332,2003,3104,3249,-0.0,0.0,4,75,4.18,2.60,0.00,0.000,2308,0.000,0.000,1145,3406,3179,3122,3237,0,0,0,0,0,0,24.18,24.18,28.83
$GC,363,-2.70,-35.5,1146,3409,3107,3258,10.2,0.9,32,371,0.00,2.65,-3.35,0.000,17414,0.000,0.000,1145,1982,3276,3209,3344,0,0,0,0,0,0,28.83,24.18,24.19
$GC,678,-2.70,-35.5,1147,1983,3213,3347,20.6,-7.0,63,684,0.00,2.70,0.00,0.000,260,0.000,0.000,1144,3433,3273,3207,3339,0,0,0,0,0,0,28.83,24.18,28.83
$GC,970,-2.70,-35.5,1146,3438,3208,3335,41.1,-6.7,91,977,0.00,2.83,0.00,0.000,1030,0.000,0.000,1147,1927,3274,3209,3340,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1285,-2.70,-35.5,1146,1941,3202,3332,63.2,-7.1,113,1290,0.00,2.72,0.00,0.000,260,0.000,0.000,1148,3475,3274,3211,3337,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1583,-2.70,-35.5,1146,3461,3210,3334,82.0,-6.1,127,1587,0.00,2.85,0.00,0.000,1030,0.000,0.000,1147,1943,3270,3202,3339,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1898,-2.77,-96.1,1147,1938,3213,3332,84.7,10.9,143,1929,0.30,2.72,-7.65,0.000,20740,0.001,0.000,1105,3451,3510,3437,3583,0,0,0,0,0,0,24.17,24.18,24.19
$GC,2150,-2.83,-146.0,1103,3460,3438,3570,46.8,14.4,156,2162,0.00,2.75,-6.97,0.000,17414,0.000,0.000,1104,1975,3711,3631,3791,0,0,0,0,0,0,28.83,24.18,24.19
$STATE,2258,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2258,begin apogee
$GC,2266,-0.31,0.0,1103,2014,3659,3795,32.0,13.5,167,2392,2.83,0.17,118.50,0.001,10246,0.000,0.000,1660,1971,3131,3065,3198,0,0,0,0,0,0,24.18,24.18,24.13
$STATE,2398,end apogee,CONTROL_FINISHED_OK
$STATE,2398,begin climb
$GC,2401,2.83,146.0,1660,1970,3079,3193,15.9,0.0,180,2523,3.55,0.00,108.32,0.001,10754,0.000,0.000,2346,1966,2572,2527,2617,0,0,0,0,1,0,24.18,28.83,24.14
$STATE,2524,end climb,SURFACE_DEPTH_REACHED
$STATE,2524,begin surface coast
$FINISH,1.1,-1.140214
$STATE,2537,end surface coast,CONTROL_FINISHED_OK
$STATE,2537,begin surface
$SM_CCo,2561,103.93,0.000,0,0,1907,300.00
$SM_GC,1.32,10.25,0.22,103.93,0.000,0.000,0.000,345,2027,1907,-6.33,0.62,300.00,0,0,0,0,0,0,24.18,24.18,24.14
$RAFOS_CLK,34
$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,62.32
$INTERNAL_PRESSURE,16.1041
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.3,0.0
$SC_FREEKB,3931328
$24V_AH,24.0,188.558
$10V_AH,10.5,72.912
$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,21.100,22.500,226.825,103.925,0.000,0.000,0.000,71.200,0.000,0.000,19.362,0.000,1395.582,331.722,858.511,341.488,33.217,747.972,0.000,664.056,0.000,23.933,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,158.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.608,0.000,0.000,0.000
$MEM,306912
$DATA_FILE_SIZE,6836,195
$CAP_FILE_SIZE,138328,0
$CFSIZE,260165632,236142592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$GPS,060114,051241,4804.941,-12220.914,25,1.6,32,18.0