version: 66.12
glider: 99
mission: 78
dive: 203
start: 1 7 114 21 1 13
data:
$ID,99
$MISSION,78
$DIVE,203
$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,-1250140.6
$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
$GPS1,070114,205523,4806.174,-12222.118,16,1.9,21,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,070114,210009,4806.184,-12222.120,36,1.8,42,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.042,-0.151
$KALMAN_X,24478.3,8.0,108.7,-22774.2,175.5
$KALMAN_Y,3912.6,149.0,-264.5,-6632.9,44.6
$MHEAD_RNG_PITCHd_Wd,146.6,2594,-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,-146.0,324,2008,1868,1943,0.0,0.0,0,84,0.00,0.00,-60.62,0.000,16390,0.000,0.000,323,2008,3716,3645,3788,0,0,0,0,0,0,28.83,28.83,24.19
$GC,88,-0.84,-146.0,324,2014,3649,3781,0.2,-0.5,6,101,6.10,2.67,0.00,0.000,2564,0.000,0.000,1556,511,3720,3641,3800,0,0,0,0,0,0,24.18,24.18,28.83
$GC,367,-0.84,-146.0,1560,511,3652,3790,22.6,-5.2,34,373,0.00,2.88,-0.15,0.000,17414,0.000,0.000,1560,2034,3720,3651,3790,0,0,0,0,0,0,28.83,24.18,24.19
$GC,676,-0.84,-146.0,1555,2044,3644,3783,37.8,-5.1,65,681,0.17,0.00,0.00,0.000,4102,0.000,0.000,1514,2031,3723,3638,3809,0,0,0,0,0,0,24.17,28.83,28.83
$GC,989,-0.84,-146.0,1514,2028,3643,3784,52.8,-4.6,93,990,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,2035,3726,3659,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1293,-0.84,-146.0,1513,2030,3640,3810,66.7,-4.6,108,1295,0.20,0.00,0.00,0.000,2054,0.000,0.000,1546,2037,3719,3643,3796,0,0,0,0,0,0,24.17,28.83,28.83
$GC,1595,-0.84,-146.0,1548,2031,3642,3784,80.8,-4.7,123,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,1551,2027,3723,3659,3788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1889,-0.84,-146.0,1550,2032,3672,3792,93.9,-3.9,138,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,1550,2042,3714,3641,3787,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1965,begin apogee
$GC,1973,-0.31,0.0,1551,1929,3638,3814,95.0,-1.4,142,2096,0.62,0.22,118.97,0.001,10246,0.000,0.000,1667,2037,3139,3071,3207,0,0,0,0,0,0,24.18,24.18,24.13
$STATE,2102,end apogee,CONTROL_FINISHED_OK
$STATE,2102,begin climb
$GC,2106,0.84,146.0,1667,2036,3062,3191,91.9,0.0,148,2237,1.15,2.58,122.95,0.001,10500,0.000,0.000,1910,3399,2541,2491,2592,0,0,0,0,0,0,24.18,24.18,24.12
$GC,2501,0.84,146.0,1907,3405,2479,2584,68.9,6.3,168,2507,0.00,2.72,0.00,0.000,1030,0.000,0.000,1903,1966,2534,2488,2581,0,0,0,0,0,0,28.83,24.18,28.83
$GC,2804,0.84,146.0,1905,1963,2490,2586,49.8,6.0,184,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,1964,2537,2488,2586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3108,0.84,146.0,1911,1960,2487,2594,32.9,5.5,214,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,1968,2540,2488,2592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3416,0.85,156.1,1906,1967,2487,2580,17.1,4.7,245,3447,0.00,0.00,25.05,0.000,8198,0.000,0.000,1902,1965,2491,2444,2538,0,0,0,0,1,0,28.83,28.83,24.13
$GC,3750,0.94,226.2,1906,1957,2442,2539,2.5,2.9,278,3777,0.00,0.00,25.75,0.000,8194,0.000,0.000,1895,1960,2325,2285,2366,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3778,end climb,SURFACE_DEPTH_REACHED
$STATE,3778,begin surface coast
$STATE,3861,end surface coast,CONTROL_FINISHED_OK
$STATE,3861,begin surface
$SM_CCo,3883,66.20,0.000,0,0,1904,300.00
$SM_GC,-0.01,8.05,0.12,66.20,0.000,0.000,0.000,322,2055,1904,-6.34,-0.11,300.00,0,0,0,0,0,0,24.18,24.17,24.14
$RAFOS_CLK,21
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.061418,0.061418
$HUMID,65.63
$INTERNAL_PRESSURE,15.9381
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.4,0.0
$SC_FREEKB,3926848
$24V_AH,24.0,189.142
$10V_AH,10.5,74.025
$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,16.300,11.500,292.725,66.200,0.000,0.000,0.000,71.425,0.000,0.000,43.418,0.000,2442.198,389.204,1029.566,377.454,33.233,783.431,0.000,786.837,0.000,23.847,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,6.890,0.000,0.000,0.000
$MEM,306956
$DATA_FILE_SIZE,10126,289
$CAP_FILE_SIZE,154229,0
$CFSIZE,260165632,234291200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$GPS,070114,220806,4805.897,-12221.788,23,1.9,28,18.0