version: 66.12
glider: 99
mission: 78
dive: 186
start: 1 7 114 1 8 36
data:
$ID,99
$MISSION,78
$DIVE,186
$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,-1250119.4
$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,8
$R_STBD_OVSHOOT,2
$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
$GPS1,070114,010316,4805.681,-12221.585,26,1.8,32,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,070114,010732,4805.647,-12221.576,12,1.8,17,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.052,-0.148
$KALMAN_X,22807.2,270.2,-37.5,-20546.1,119.4
$KALMAN_Y,2281.1,1.9,174.2,-6286.6,26.0
$MHEAD_RNG_PITCHd_Wd,142.6,1394,-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,-146.0,314,2039,1861,1942,0.0,0.0,0,80,0.00,0.15,-60.85,0.000,16390,0.000,0.000,313,1900,3724,3669,3780,0,0,0,0,0,0,28.83,24.18,24.19
$GC,84,-0.84,-146.0,314,1901,3646,3780,0.4,-1.0,6,100,6.15,2.95,-0.03,0.000,18692,0.000,0.000,1556,3468,3723,3654,3793,0,0,0,0,0,0,24.18,24.18,24.15
$GC,394,-0.84,-146.0,1554,3472,3635,3789,25.0,-5.6,35,400,0.00,2.83,0.00,0.000,1030,0.000,0.000,1556,1989,3713,3642,3785,0,0,0,0,0,0,28.83,24.18,28.83
$GC,706,-0.84,-146.0,1554,1978,3637,3790,43.0,-5.7,66,707,0.00,0.00,-0.10,0.000,16390,0.000,0.000,1550,1983,3708,3634,3782,0,0,0,0,0,0,28.83,28.83,24.18
$GC,1015,-0.84,-146.0,1553,1984,3650,3803,59.4,-5.2,88,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,1553,1982,3720,3639,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1317,-0.84,-146.0,1554,1984,3632,3801,76.3,-5.7,103,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,1985,3714,3635,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1619,-0.84,-146.0,1555,1983,3632,3790,92.6,-5.4,118,1620,0.17,0.00,0.00,0.000,4102,0.000,0.000,1516,1982,3720,3654,3786,0,0,0,0,0,0,24.17,28.83,28.83
$STATE,1715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1715,begin apogee
$GC,1723,-0.31,0.0,1516,2024,3643,3820,95.1,-2.0,123,1846,0.80,0.17,118.62,0.001,10246,0.000,0.000,1665,1905,3133,3060,3207,0,0,0,0,0,0,24.18,24.18,24.13
$STATE,1851,end apogee,CONTROL_FINISHED_OK
$STATE,1851,begin climb
$GC,1855,0.84,146.0,1665,1921,3062,3204,93.0,0.0,129,1981,1.27,0.00,122.47,0.000,10246,0.000,0.000,1928,1906,2547,2490,2604,0,0,0,0,0,0,24.18,28.83,24.12
$GC,2274,0.84,146.0,1930,1912,2489,2586,67.7,5.9,151,2275,0.28,0.00,0.00,0.000,4102,0.000,0.000,1890,1899,2533,2487,2580,0,0,0,0,0,0,24.18,28.83,28.83
$GC,2575,0.84,146.0,1887,1902,2486,2605,50.1,6.2,166,2577,0.00,0.00,0.50,0.000,8198,0.000,0.000,1887,1912,2536,2485,2588,0,0,0,0,0,0,28.83,28.83,24.14
$GC,2875,0.84,146.0,1888,1907,2487,2589,32.7,5.1,195,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,1892,1907,2538,2488,2588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3183,0.84,146.0,1886,1906,2486,2585,16.7,6.5,225,3184,0.00,0.00,0.10,0.000,8198,0.000,0.000,1889,1906,2544,2499,2589,0,0,0,0,0,0,28.83,28.83,24.14
$GC,3487,0.88,174.6,1892,1902,2508,2590,3.8,4.1,255,3514,0.17,0.00,17.98,0.000,10758,0.000,0.000,1907,1907,2423,2377,2470,0,0,0,0,0,0,24.17,28.83,24.14
$STATE,3534,end climb,SURFACE_DEPTH_REACHED
$STATE,3534,begin surface coast
$STATE,3581,end surface coast,CONTROL_FINISHED_OK
$STATE,3581,begin surface
$SM_CCo,3606,80.50,0.000,0,0,1910,300.00
$SM_GC,-0.01,7.93,0.32,80.50,0.000,0.000,0.000,349,2003,1910,-6.30,0.03,300.00,0,0,0,0,0,0,24.18,24.17,24.14
$RAFOS_CLK,24
$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,65.67
$INTERNAL_PRESSURE,16.0065
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.5,0.0
$SC_FREEKB,3929024
$24V_AH,24.0,188.869
$10V_AH,10.6,73.488
$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,16.775,6.775,259.675,80.500,0.000,0.000,0.000,71.225,0.000,0.000,18.371,0.000,2213.947,343.450,993.190,398.011,33.226,712.455,0.000,827.280,0.000,23.835,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,23.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.545,0.000,0.000,0.000
$MEM,306916
$DATA_FILE_SIZE,6786,265
$CAP_FILE_SIZE,171808,0
$CFSIZE,260165632,235167744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,070114,021112,4805.337,-12221.368,26,2.0,35,18.0