version: 66.12
glider: 99
mission: 78
dive: 200
start: 1 7 114 17 23 30
data:
$ID,99
$MISSION,78
$DIVE,200
$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,-1250136.9
$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,14
$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
$GPS1,070114,171743,4807.231,-12223.272,27,1.8,36,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,070114,172230,4807.212,-12223.269,36,1.4,43,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.076,-0.137
$KALMAN_X,24215.1,-227.1,-90.5,-23497.6,231.7
$KALMAN_Y,3657.4,407.4,33.0,-5027.5,-238.1
$MHEAD_RNG_PITCHd_Wd,133.1,4966,-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,-146.0,312,2005,1873,1941,0.0,0.0,0,80,0.00,0.15,-60.78,0.000,16390,0.000,0.000,312,1880,3734,3643,3826,0,0,0,0,0,0,28.83,24.18,24.19
$GC,84,-0.84,-146.0,312,1890,3655,3783,0.1,-0.5,6,97,6.20,2.88,0.00,0.000,2308,0.000,0.000,1545,3423,3713,3644,3783,0,0,0,0,0,0,24.18,24.18,28.83
$GC,395,-0.84,-146.0,1547,3415,3644,3783,25.4,-5.5,35,401,0.00,2.72,-0.12,0.000,17414,0.000,0.000,1543,1969,3734,3665,3804,0,0,0,0,0,0,28.83,24.18,24.19
$GC,707,-0.84,-146.0,1547,1969,3655,3786,41.0,-5.2,66,708,0.00,0.00,-0.10,0.000,16390,0.000,0.000,1543,1968,3719,3641,3798,0,0,0,0,0,0,28.83,28.83,24.18
$GC,1009,-0.84,-146.0,1546,1968,3648,3802,55.8,-4.9,90,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,1966,3720,3649,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1311,-0.84,-146.0,1544,1970,3663,3783,70.4,-4.8,105,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,1969,3725,3649,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1607,-0.84,-146.0,1546,1968,3644,3780,85.4,-4.9,120,1611,0.00,2.60,0.00,0.000,516,0.000,0.000,1545,477,3717,3641,3794,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1757,-0.84,-146.0,1559,478,3647,3786,92.8,-5.0,127,1761,0.00,2.88,0.00,0.000,1030,0.000,0.000,1544,2038,3724,3646,3802,0,0,0,0,0,0,28.83,24.18,28.83
$STATE,1866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1866,begin apogee
$GC,1873,-0.31,0.0,1547,2005,3641,3783,95.1,-1.3,133,1998,0.62,0.00,119.47,0.001,10246,0.000,0.000,1653,1995,3138,3080,3196,0,0,0,0,0,0,24.18,28.83,24.13
$STATE,2004,end apogee,CONTROL_FINISHED_OK
$STATE,2004,begin climb
$GC,2007,0.84,146.0,1655,2001,3064,3204,91.8,0.0,139,2133,1.33,0.00,122.28,0.001,10246,0.000,0.000,1902,1998,2532,2478,2586,0,0,0,0,0,0,24.18,28.83,24.13
$GC,2428,0.84,146.0,1903,2001,2470,2578,67.0,5.5,161,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,1995,2535,2489,2581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2729,0.84,146.0,1902,2000,2486,2589,51.4,5.1,176,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,2002,2534,2486,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3029,0.84,146.0,1898,1990,2490,2584,35.6,5.5,204,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,1995,2533,2481,2586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3335,0.84,146.0,1885,1995,2496,2588,19.8,5.0,234,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,2001,2534,2483,2586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3636,0.87,164.3,1894,1992,2489,2590,5.5,4.5,264,3673,0.00,2.65,26.27,0.000,8452,0.000,0.000,1904,3425,2462,2413,2511,0,0,0,0,1,0,28.83,24.18,24.13
$STATE,3726,end climb,SURFACE_DEPTH_REACHED
$STATE,3726,begin surface coast
$STATE,3770,end surface coast,CONTROL_FINISHED_OK
$STATE,3770,begin surface
$SM_CCo,3795,85.55,0.000,0,0,1914,300.00
$SM_GC,-0.01,8.07,2.78,85.55,0.000,0.000,0.000,315,1965,1914,-6.33,-0.96,300.00,0,0,0,0,0,0,24.18,24.18,24.14
$RAFOS_CLK,31
$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,64.49
$INTERNAL_PRESSURE,15.9576
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.4,0.0
$SC_FREEKB,3927232
$24V_AH,24.0,189.095
$10V_AH,10.6,73.933
$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,16.225,17.050,268.025,85.550,0.000,0.000,0.000,70.950,0.000,0.000,44.262,0.000,2298.471,362.462,1084.008,417.370,33.233,763.872,0.000,913.563,0.000,26.693,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,20.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.026,0.000,0.000,0.000
$MEM,306888
$DATA_FILE_SIZE,6828,277
$CAP_FILE_SIZE,184583,0
$CFSIZE,260165632,234422272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$GPS,070114,182912,4806.849,-12222.855,21,1.4,27,18.0