version: 66.11
glider: 99
mission: 78
dive: 271
start: 9 10 113 9 34 9
data:
$ID,99
$MISSION,78
$DIVE,271
$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,-1241469
$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,2
$R_STBD_OVSHOOT,38
$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
$GPS1,100913,092440,4804.971,-12220.880,27,1.9,33,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,100913,093229,4804.991,-12220.899,36,1.7,44,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.012,0.089
$KALMAN_X,8468.4,-27.4,-50.5,-4745.2,-169.4
$KALMAN_Y,8522.9,-86.1,1.9,-13666.3,-318.6
$MHEAD_RNG_PITCHd_Wd,349.9,126,-25.4,-5.026,-29.36,1012
$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,24,-1.63,-34.3,350,1916,1868,1944,0.0,0.0,0,75,0.00,0.15,-45.55,0.000,16390,0.000,0.001,349,2037,3253,3189,3318,0,0,0,0,0,0,28.83,24.17,24.19
$GC,80,-1.69,-83.9,349,2031,3199,3311,-0.0,0.0,10,99,5.20,2.50,-6.78,0.000,18692,0.000,0.000,1378,3378,3456,3390,3522,0,0,0,0,0,0,24.17,24.17,24.18
$GC,381,-1.74,-123.2,1379,3371,3390,3532,7.5,-1.0,67,394,0.28,2.67,-5.45,0.000,21510,0.000,0.000,1331,1950,3630,3562,3699,0,0,0,0,0,0,24.17,24.17,24.18
$GC,705,-1.74,-123.2,1331,1941,3548,3702,22.2,-6.3,129,712,0.00,2.60,0.00,0.000,516,0.000,0.000,1331,527,3643,3573,3713,0,0,0,0,0,0,28.83,24.16,28.83
$GC,754,-1.74,-123.2,1329,528,3551,3703,25.0,-6.3,137,761,0.00,2.65,0.00,0.000,1030,0.000,0.000,1332,1952,3631,3571,3692,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1061,-1.74,-123.2,1331,1956,3566,3692,44.2,-6.0,168,1066,0.00,2.83,0.00,0.000,260,0.000,0.000,1331,3517,3617,3552,3682,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1078,-1.74,-123.2,1330,3515,3565,3697,44.9,-5.9,169,1085,0.00,2.88,0.00,0.000,1030,0.000,0.000,1331,2001,3622,3555,3690,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1395,-1.74,-123.2,1334,2002,3549,3690,62.1,-5.1,190,1400,0.00,2.65,0.00,0.000,516,0.000,0.000,1331,575,3619,3545,3693,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1682,-1.74,-123.2,1330,575,3551,3690,77.0,-5.6,203,1688,0.00,2.80,0.00,0.000,1030,0.000,0.000,1330,2077,3622,3545,3699,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1989,-1.75,-131.6,1331,2078,3548,3685,93.7,-4.2,219,1997,0.00,2.92,-0.95,0.000,16900,0.000,0.000,1331,498,3654,3577,3731,0,0,0,0,0,0,28.83,24.18,24.18
$STATE,2272,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2272,begin apogee
$GC,2283,-0.31,0.0,1330,2038,3564,3742,53.9,16.1,233,2404,1.77,0.15,106.18,0.000,10246,0.000,0.000,1680,1979,3137,3070,3205,0,0,0,0,0,0,24.17,24.17,24.12
$STATE,2405,end apogee,CONTROL_FINISHED_OK
$STATE,2405,begin climb
$GC,2409,1.75,131.6,1685,1978,3075,3185,35.2,0.0,245,2531,2.15,2.72,110.00,0.000,10500,0.000,0.000,2115,3417,2603,2562,2644,0,0,0,0,0,0,24.17,24.17,24.11
$STATE,2679,end climb,SURFACE_DEPTH_REACHED
$STATE,2679,begin surface coast
$FINISH,0.6,1.206153
$STATE,2703,end surface coast,CONTROL_FINISHED_OK
$STATE,2703,begin surface
$SM_CCo,2729,107.50,0.000,0,0,1908,300.49
$SM_GC,-0.01,9.15,2.72,107.50,0.000,0.000,0.000,321,2011,1908,-6.32,0.62,300.49,0,0,0,0,0,0,24.17,24.17,24.13
$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,0.021721,0.021721
$HUMID,83.51
$INTERNAL_PRESSURE,15.9967
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.1,0.0
$SC_FREEKB,3802848
$24V_AH,24.1,101.044
$10V_AH,10.7,46.068
$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,18.550,33.300,216.175,107.500,0.000,0.000,0.000,116.875,0.000,0.000,45.525,858.891,1069.204,388.941,755.058,286.548,33.212,835.426,0.000,532.074,0.000,21.122,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,0.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2778.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.800,0.000,0.000,0.000
$MEM,310136
$DATA_FILE_SIZE,10150,294
$CAP_FILE_SIZE,68190,0
$CFSIZE,260165632,224882688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,100913,102324,4804.868,-12220.993,33,1.9,38,18.0