version: 66.12
glider: 99
mission: 78
dive: 188
start: 1 7 114 3 28 5
data:
$ID,99
$MISSION,78
$DIVE,188
$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,-1250121.9
$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,3
$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
$GPS1,070114,032231,4805.165,-12220.844,22,2.0,30,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,070114,032701,4805.168,-12220.877,18,1.7,25,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.057,-0.057
$KALMAN_X,23072.3,290.3,-95.6,-19912.4,64.8
$KALMAN_Y,2518.2,-209.3,213.8,-7245.4,-92.9
$MHEAD_RNG_PITCHd_Wd,207.0,346,-28.4,-5.026,-32.08,820
$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,-1.81,-27.6,345,2032,1868,1945,0.0,0.0,0,70,0.00,0.10,-44.70,0.000,16390,0.000,0.000,345,1960,3237,3170,3304,0,0,0,0,0,0,28.83,24.18,24.19
$GC,74,-1.81,-27.6,345,1959,3180,3309,0.1,-0.3,4,83,4.95,2.75,0.00,0.000,2308,0.000,0.000,1319,3452,3227,3158,3297,0,0,0,0,0,0,24.18,24.18,28.83
$GC,356,-1.81,-27.6,1318,3446,3198,3297,23.0,-5.5,32,360,0.00,2.70,0.00,0.000,1030,0.000,0.000,1317,1936,3241,3177,3306,0,0,0,0,0,0,28.83,24.18,28.83
$GC,667,-1.81,-27.6,1318,1935,3174,3298,39.9,-5.4,63,668,0.00,0.00,0.00,0.000,6,0.000,0.000,1318,1934,3235,3171,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,976,-1.81,-29.3,1318,1929,3180,3297,55.1,-4.8,89,977,0.00,0.00,-0.17,0.000,16390,0.000,0.000,1318,1933,3238,3176,3300,0,0,0,0,0,0,28.83,28.83,24.18
$GC,1284,-1.81,-29.3,1317,1933,3174,3303,70.2,-5.2,104,1288,0.00,2.47,-0.03,0.000,16900,0.000,0.000,1318,580,3245,3185,3305,0,0,0,0,0,0,28.83,24.18,24.13
$GC,1446,-1.81,-29.3,1319,581,3177,3321,78.9,-5.1,112,1451,0.00,2.67,0.00,0.000,1030,0.000,0.000,1319,2029,3242,3179,3305,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1769,-1.82,-35.9,1318,2032,3183,3295,93.7,-4.2,128,1771,0.00,0.00,-0.80,0.000,16390,0.000,0.000,1317,2016,3261,3195,3327,0,0,0,0,0,0,28.83,28.83,24.19
$GC,2065,-1.96,-146.0,1318,2026,3198,3328,72.8,8.8,143,2082,0.35,0.00,-15.00,0.000,20486,0.000,0.000,1252,2028,3725,3653,3797,0,0,0,0,0,0,24.18,28.83,24.19
$STATE,2262,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2263,begin apogee
$GC,2270,-0.31,0.0,1251,1987,3631,3778,55.9,8.4,153,2396,2.00,0.03,119.00,0.001,10246,0.000,0.000,1642,1995,3131,3077,3186,0,0,0,0,0,0,24.18,24.18,24.13
$STATE,2402,end apogee,CONTROL_FINISHED_OK
$STATE,2402,begin climb
$GC,2405,1.96,146.0,1641,1994,3071,3189,45.3,0.0,162,2537,2.47,0.00,122.15,0.001,10246,0.000,0.000,2126,1998,2534,2484,2585,0,0,0,0,0,0,24.18,28.83,24.12
$GC,2840,1.96,146.0,2134,1994,2495,2585,10.9,6.9,206,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,1993,2530,2484,2577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3141,1.98,164.3,2141,1999,2485,2584,2.9,2.7,236,3162,0.15,2.65,10.98,0.000,10756,0.000,0.000,2150,549,2464,2416,2512,0,0,0,0,0,0,24.17,24.18,24.14
$STATE,3171,end climb,SURFACE_DEPTH_REACHED
$STATE,3171,begin surface coast
$STATE,3173,end surface coast,CONTROL_FINISHED_OK
$STATE,3173,begin surface
$SM_CCo,3201,86.50,0.000,0,0,1911,300.00
$SM_GC,0.69,9.18,2.72,86.50,0.000,0.000,0.000,339,2064,1911,-6.35,0.06,300.00,0,0,0,0,0,0,24.17,24.18,24.14
$RAFOS_CLK,786
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.043442,0.043442
$HUMID,64.72
$INTERNAL_PRESSURE,16.0065
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.2,0.0
$SC_FREEKB,3928768
$24V_AH,24.0,188.901
$10V_AH,10.5,73.546
$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,19.100,16.500,252.125,86.500,0.000,0.000,0.000,71.450,0.000,0.000,26.704,0.000,1946.714,351.282,905.461,355.242,33.216,719.977,0.000,682.726,0.000,23.840,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,6.593,0.000,0.000,0.000
$MEM,306916
$DATA_FILE_SIZE,6811,239
$CAP_FILE_SIZE,144245,0
$CFSIZE,260165632,235089920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,37.70,0x2361c2,0,24
$SOUNDSPEED,1465.0
$GPS,070114,042355,4804.967,-12221.062,20,1.2,28,18.0