version: 66.11
glider: 99
mission: 78
dive: 270
start: 9 10 113 8 36 11
data:
$ID,99
$MISSION,78
$DIVE,270
$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,-1241467.8
$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,17
$R_STBD_OVSHOOT,8
$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
$DEVICE1,133
$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,16
$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
$GPS1,100913,082529,4805.004,-12220.999,17,2.0,23,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,100913,083427,4805.025,-12221.051,31,1.8,38,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.071,0.066
$KALMAN_X,8552.1,51.4,-132.0,-5011.2,-206.6
$KALMAN_Y,8729.8,-63.5,82.5,-13914.8,-293.8
$MHEAD_RNG_PITCHd_Wd,29.3,78,-23.2,-5.026,-27.45,1190
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.50,-40.7,357,1994,1870,1938,0.0,0.0,0,75,0.00,0.03,-46.22,0.000,16390,0.000,0.000,357,1994,3286,3223,3349,0,0,0,0,0,0,28.83,24.15,24.18
$GC,80,-1.57,-98.8,357,1994,3233,3348,-0.0,-0.0,10,103,5.40,2.60,-7.85,0.000,18692,0.000,0.000,1404,3444,3510,3455,3566,0,0,0,0,0,0,24.17,24.18,24.18
$GC,386,-1.63,-146.0,1405,3423,3450,3588,8.9,-0.5,68,399,0.30,2.62,-6.60,0.000,21510,0.000,0.000,1350,1996,3698,3627,3769,0,0,0,0,0,0,24.17,24.16,24.18
$GC,717,-1.63,-146.0,1362,1999,3626,3784,23.6,-7.3,130,724,0.00,2.78,-0.03,0.000,16644,0.000,0.000,1350,3425,3705,3634,3777,0,0,0,0,0,0,28.83,24.17,24.13
$GC,1026,-1.63,-146.0,1366,3415,3648,3794,43.6,-6.3,159,1033,0.00,2.75,-0.08,0.000,17414,0.000,0.000,1352,1962,3710,3640,3781,0,0,0,0,0,0,28.83,24.17,24.18
$GC,1332,-1.63,-146.0,1349,1961,3667,3783,62.6,-6.0,180,1337,0.00,2.78,0.00,0.000,260,0.000,0.000,1351,3455,3712,3635,3789,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1639,-1.63,-146.0,1350,3479,3642,3798,78.6,-5.3,193,1645,0.00,2.67,0.00,0.000,1030,0.000,0.000,1350,1972,3716,3648,3785,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1944,-1.63,-146.0,1349,1972,3638,3795,93.4,-2.4,209,1949,0.00,2.78,0.00,0.000,260,0.000,0.000,1347,3497,3729,3654,3804,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2223,-1.63,-146.0,1348,3493,3638,3804,56.7,14.4,222,2229,0.00,2.85,0.00,0.000,1030,0.000,0.000,1351,1938,3724,3645,3804,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,2266,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2266,begin apogee
$GC,2275,-0.31,0.0,1351,2092,3635,3792,48.3,14.2,225,2404,1.62,0.20,119.07,0.000,10246,0.000,0.000,1678,2039,3142,3089,3195,0,0,0,0,0,0,24.17,24.16,24.12
$STATE,2406,end apogee,CONTROL_FINISHED_OK
$STATE,2406,begin climb
$GC,2410,1.63,146.0,1677,2036,3080,3207,31.1,0.0,238,2543,2.05,2.70,122.75,0.000,10756,0.000,0.000,2076,545,2528,2481,2576,0,0,0,0,0,0,24.17,24.17,24.12
$STATE,2644,end climb,SURFACE_DEPTH_REACHED
$STATE,2644,begin surface coast
$FINISH,1.2,1.166115
$STATE,2670,end surface coast,CONTROL_FINISHED_OK
$STATE,2674,begin surface
$SM_CCo,2699,97.57,0.000,0,0,1909,300.00
$SM_GC,1.28,8.82,2.78,97.57,0.000,0.000,0.000,350,2036,1909,-6.27,0.03,300.00,0,0,0,0,0,0,24.16,24.17,24.13
$RAFOS_CLK,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02247,0.02247
$HUMID,83.70
$INTERNAL_PRESSURE,15.9967
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,72.0,0.0
$SC_FREEKB,3803264
$24V_AH,24.1,100.940
$10V_AH,10.7,46.038
$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,18.200,27.875,241.825,97.575,0.000,0.000,0.000,194.275,0.000,0.000,39.538,914.582,973.207,394.490,821.032,288.590,33.218,920.819,0.000,519.805,720.000,24.026,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,0.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2756.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.798,0.000,0.000,0.000
$MEM,310164
$DATA_FILE_SIZE,10169,285
$CAP_FILE_SIZE,73453,0
$CFSIZE,260165632,224948224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,100913,092440,4804.971,-12220.880,27,1.9,33,18.0