version: 66.12
glider: 99
mission: 78
dive: 201
start: 1 7 114 18 34 47
data:
$ID,99
$MISSION,78
$DIVE,201
$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,-1250138.1
$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,1
$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
$GPS1,070114,182912,4806.849,-12222.855,21,1.4,27,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,070114,183343,4806.846,-12222.873,21,1.8,26,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.074,-0.138
$KALMAN_X,24276.5,-155.0,-19.4,-23212.1,240.1
$KALMAN_Y,3699.3,352.0,-119.2,-5544.0,-242.9
$MHEAD_RNG_PITCHd_Wd,133.9,4131,-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,-146.0,317,2000,1875,1947,0.0,0.0,0,83,0.00,0.00,-60.33,0.000,16390,0.000,0.000,316,1998,3713,3631,3796,0,0,0,0,0,0,28.83,28.83,24.19
$GC,88,-0.84,-146.0,316,1998,3655,3792,0.2,-0.6,6,101,6.15,2.70,0.00,0.000,2564,0.000,0.000,1530,564,3711,3640,3782,0,0,0,0,0,0,24.18,24.18,28.83
$GC,166,-0.84,-146.0,1532,563,3635,3805,11.2,-9.2,14,172,0.00,2.72,0.00,0.000,1030,0.000,0.000,1530,2044,3714,3644,3784,0,0,0,0,0,0,28.83,24.18,28.83
$GC,473,-0.84,-146.0,1531,2041,3642,3778,28.6,-5.0,45,474,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,2039,3717,3638,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,778,-0.84,-146.0,1530,2039,3631,3777,43.5,-4.9,75,779,0.00,0.00,-0.05,0.000,16390,0.000,0.000,1532,2034,3718,3647,3789,0,0,0,0,0,0,28.83,28.83,24.15
$GC,1079,-0.84,-146.0,1532,2040,3649,3784,57.5,-4.6,97,1080,0.00,0.00,-0.10,0.000,16390,0.000,0.000,1529,2047,3723,3634,3812,0,0,0,0,0,0,28.83,28.83,24.18
$GC,1386,-0.84,-146.0,1533,2037,3634,3796,70.7,-4.4,112,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,2046,3706,3625,3787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1679,-0.84,-146.0,1528,2019,3636,3794,84.5,-4.8,127,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,2036,3721,3657,3785,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1976,begin apogee
$GC,1984,-0.31,0.0,1531,1929,3653,3785,95.1,-1.4,142,2108,0.73,0.15,118.90,0.001,10246,0.000,0.000,1658,2022,3141,3073,3210,0,0,0,0,0,0,24.18,24.18,24.12
$STATE,2114,end apogee,CONTROL_FINISHED_OK
$STATE,2114,begin climb
$GC,2118,0.84,146.0,1659,2022,3060,3197,91.7,0.0,148,2247,1.33,2.55,122.35,0.001,10500,0.000,0.000,1918,3394,2545,2491,2600,0,0,0,0,0,0,24.18,24.18,24.12
$GC,2488,0.84,146.0,1912,3389,2481,2586,69.1,6.2,167,2496,0.00,2.65,1.20,0.000,9222,0.000,0.000,1907,1957,2551,2516,2586,0,0,0,0,0,0,28.83,24.18,24.14
$GC,2812,0.84,146.0,1911,1952,2489,2587,51.2,5.6,183,2814,0.00,0.00,0.35,0.000,8198,0.000,0.000,1915,1949,2551,2507,2595,0,0,0,0,0,0,28.83,28.83,24.14
$GC,3110,0.85,152.0,1908,1959,2495,2587,35.1,4.8,211,3121,0.00,2.75,7.25,0.001,8452,0.000,0.000,1918,3420,2517,2459,2575,0,0,0,0,0,0,28.83,24.18,24.13
$GC,3223,0.85,152.0,1913,3393,2468,2574,29.1,5.8,221,3228,0.00,2.75,0.62,0.000,9222,0.000,0.000,1908,1961,2512,2458,2566,0,0,0,0,0,0,28.83,24.18,24.14
$GC,3538,0.86,156.5,1913,1975,2463,2575,12.1,4.9,252,3566,0.00,0.00,20.83,0.000,8198,0.000,0.000,1915,1963,2488,2434,2542,0,0,0,0,1,0,28.83,28.83,24.12
$STATE,3776,end climb,SURFACE_DEPTH_REACHED
$STATE,3776,begin surface coast
$STATE,3829,end surface coast,CONTROL_FINISHED_OK
$STATE,3829,begin surface
$SM_CCo,3851,91.20,0.000,0,0,1906,300.25
$SM_GC,-0.00,8.10,0.15,91.20,0.000,0.000,0.000,344,2001,1906,-6.33,-0.03,300.25,0,0,0,0,0,0,24.18,24.17,24.14
$RAFOS_CLK,27
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.063665,0.063665
$HUMID,64.17
$INTERNAL_PRESSURE,15.9479
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.7,0.0
$SC_FREEKB,3927104
$24V_AH,24.0,189.112
$10V_AH,10.5,73.964
$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,16.300,16.750,271.500,91.200,0.000,0.000,0.000,71.925,0.000,0.000,27.786,0.000,2406.011,400.066,1020.518,388.246,33.230,776.080,0.000,818.062,0.000,23.844,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,21.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.529,0.000,0.000,0.000
$MEM,306776
$DATA_FILE_SIZE,6816,281
$CAP_FILE_SIZE,163989,0
$CFSIZE,260165632,234389504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$GPS,070114,194123,4806.542,-12222.369,12,1.6,18,18.0