version: 66.11
glider: 99
mission: 78
dive: 294
start: 9 11 113 8 30 58
data:
$ID,99
$MISSION,78
$DIVE,294
$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,-1241497.8
$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,44
$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
$DEVICE1,133
$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
$GPS1,110913,082215,4807.654,-12223.660,34,1.9,41,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,110913,082919,4807.634,-12223.646,32,1.5,40,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.156,-0.018
$KALMAN_X,1205.6,-132.9,127.2,-950.5,-265.5
$KALMAN_Y,2535.1,790.0,70.2,-3726.4,-415.3
$MHEAD_RNG_PITCHd_Wd,78.5,5875,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-0.84,-146.0,331,2016,1869,1943,0.0,0.0,0,89,0.00,0.00,-60.67,0.000,16390,0.000,0.000,331,2028,3706,3626,3787,0,0,0,0,0,0,28.83,28.83,24.18
$GC,94,-0.84,-146.0,331,2017,3627,3777,0.2,-1.0,8,107,6.25,2.72,-0.08,0.000,18948,0.000,0.000,1542,577,3720,3658,3782,0,0,0,0,0,0,24.17,24.17,24.18
$GC,164,-0.84,-146.0,1544,576,3624,3774,9.0,-8.4,20,171,0.00,2.70,-0.05,0.000,17414,0.000,0.000,1542,2034,3719,3637,3801,0,0,0,0,0,0,28.83,24.17,24.18
$GC,487,-0.84,-146.0,1544,2032,3629,3791,32.2,-6.4,71,492,0.00,2.53,-0.30,0.000,16644,0.000,0.000,1545,3487,3735,3665,3805,0,0,0,0,0,0,28.83,24.17,24.18
$GC,796,-0.84,-146.0,1543,3483,3656,3790,51.0,-6.3,97,803,0.00,2.72,0.00,0.000,1030,0.000,0.000,1544,2035,3713,3634,3793,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1096,-0.84,-146.0,1543,2034,3644,3787,71.7,-6.4,113,1102,0.00,2.67,-0.05,0.000,16644,0.000,0.000,1542,3470,3723,3648,3798,0,0,0,0,0,0,28.83,24.17,24.14
$GC,1413,-0.84,-146.0,1544,3471,3650,3786,90.6,-6.4,126,1419,0.00,2.80,0.00,0.000,1030,0.000,0.000,1546,1985,3721,3653,3790,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,1496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1496,begin apogee
$GC,1505,-0.31,0.0,1545,2049,3642,3798,95.4,-3.7,131,1632,0.47,0.25,120.97,0.000,10246,0.000,0.000,1649,1959,3130,3065,3195,0,0,0,0,0,0,24.17,24.17,24.12
$STATE,1633,end apogee,CONTROL_FINISHED_OK
$STATE,1633,begin climb
$GC,1638,0.84,146.0,1649,1956,3065,3206,94.7,0.0,137,1790,1.48,2.60,121.35,0.000,10756,0.000,0.000,1937,572,2536,2483,2589,0,0,0,0,0,0,24.17,24.17,24.12
$GC,2070,0.84,146.0,1938,573,2489,2593,64.2,6.9,158,2079,0.32,2.70,0.32,0.000,13318,0.000,0.000,1900,1972,2533,2489,2577,0,0,0,0,0,0,24.17,24.16,24.13
$GC,2384,0.84,146.0,1895,1971,2484,2582,42.7,7.1,178,2388,0.00,2.72,0.00,0.000,516,0.000,0.000,1897,509,2531,2472,2590,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2665,0.84,146.0,1920,509,2495,2587,24.2,6.3,206,2672,0.00,2.83,0.20,0.000,9222,0.000,0.000,1892,2022,2537,2486,2588,0,0,0,0,0,0,28.83,24.16,24.13
$GC,2984,0.84,146.0,1916,2028,2491,2590,3.7,5.2,267,2991,0.00,2.70,0.00,0.000,516,0.000,0.000,1896,553,2538,2489,2587,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,3016,end climb,SURFACE_DEPTH_REACHED
$STATE,3016,begin surface coast
$FINISH,0.8,1.206261
$STATE,3055,end surface coast,CONTROL_FINISHED_OK
$STATE,3055,begin surface
$SM_CCo,3079,98.78,0.000,0,0,1904,300.00
$SM_GC,-0.01,7.97,2.80,98.78,0.000,0.000,0.000,328,2060,1904,-6.34,0.03,300.00,0,0,0,0,0,0,24.17,24.17,24.13
$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,0.019474,0.019474
$HUMID,83.62
$INTERNAL_PRESSURE,15.9576
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.5,0.0
$SC_FREEKB,3794784
$24V_AH,24.1,103.472
$10V_AH,10.7,46.767
$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,16.500,33.000,242.850,98.775,0.000,0.000,0.000,108.200,0.000,0.000,41.253,1011.579,1163.041,379.227,812.796,286.286,33.222,892.940,0.000,571.356,1080.000,21.110,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,3114.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.703,0.000,0.000,0.000
$MEM,310252
$DATA_FILE_SIZE,10153,280
$CAP_FILE_SIZE,77246,0
$CFSIZE,260165632,223453184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,110913,092528,4807.322,-12223.328,6,1.9,11,18.0