version: 66.11
glider: 99
mission: 78
dive: 521
start: 9 20 113 18 55 35
data:
$ID,99
$MISSION,78
$DIVE,521
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,30
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$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,400
$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,-1241787.4
$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,35
$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
$GPS1,200913,184729,4807.207,-12223.029,22,1.9,27,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,200913,185356,4807.200,-12223.022,16,1.4,25,18.0
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.135,-0.222
$KALMAN_X,294048.1,-680.3,-131.2,-292213.9,84.0
$KALMAN_Y,-182338.3,889.5,331.5,179975.2,-133.1
$MHEAD_RNG_PITCHd_Wd,130.7,4782,-18.3,-10.000,-21.02,2236
$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,-1.32,-146.0,341,1926,1466,1525,0.0,0.0,0,100,0.00,0.15,-73.78,0.000,16390,0.000,0.000,340,1971,3707,3631,3784,0,0,0,0,0,0,28.83,24.17,24.18
$GC,109,-1.32,-146.0,341,1970,3649,3771,0.8,-2.5,15,122,5.55,2.65,-0.20,0.000,18948,0.000,0.000,1442,529,3717,3645,3790,0,0,0,0,0,0,24.17,24.16,24.18
$GC,398,-1.32,-146.0,1441,529,3632,3776,45.0,-13.7,56,405,0.00,2.88,-0.20,0.000,17414,0.000,0.000,1442,2102,3725,3669,3782,0,0,0,0,0,0,28.83,24.17,24.18
$GC,715,-1.32,-146.0,1441,2094,3650,3796,89.0,-13.6,74,720,0.00,2.92,0.00,0.000,516,0.000,0.000,1441,493,3723,3656,3790,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,739,begin apogee
$GC,751,-0.31,0.0,1442,2037,3650,3798,91.4,-12.5,75,882,1.12,0.17,118.85,0.000,10246,0.000,0.000,1659,1944,3135,3066,3204,0,0,0,0,0,0,24.17,24.17,24.11
$STATE,883,end apogee,CONTROL_FINISHED_OK
$STATE,883,begin climb
$GC,887,1.32,146.0,1660,1946,3076,3180,94.8,0.0,82,1022,1.65,2.75,122.88,0.000,10500,0.000,0.000,2011,3398,2534,2487,2581,0,0,0,0,0,0,24.17,24.16,24.12
$GC,1120,1.43,235.9,2015,3394,2482,2578,89.8,5.9,93,1205,0.15,2.72,75.60,0.000,11270,0.000,0.000,2046,1920,2170,2126,2215,0,0,0,0,0,0,24.16,24.16,24.11
$GC,1507,1.43,238.6,2053,1916,2122,2204,53.0,9.9,113,1513,0.00,0.00,4.22,0.000,8198,0.000,0.000,2052,1922,2156,2114,2198,0,0,0,0,0,0,28.83,28.83,24.11
$GC,1807,1.45,248.5,2050,1920,2118,2202,24.1,9.5,141,1823,0.00,0.00,10.43,0.000,8198,0.000,0.000,2055,1921,2113,2070,2156,0,0,0,0,0,0,28.83,28.83,24.12
$STATE,2035,end climb,SURFACE_DEPTH_REACHED
$STATE,2035,begin surface coast
$FINISH,-0.0,1.184491
$STATE,2056,end surface coast,CONTROL_FINISHED_OK
$STATE,2056,begin surface
$SM_CCo,2080,96.45,0.000,0,0,1495,400.08
$SM_GC,-0.01,8.75,0.30,96.45,0.000,0.000,0.000,333,2042,1495,-6.29,1.13,400.08,0,0,0,0,0,0,24.17,24.16,24.13
$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,81.89
$INTERNAL_PRESSURE,15.8209
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,67.0,0.0
$SC_FREEKB,3715808
$24V_AH,24.1,128.867
$10V_AH,10.7,53.608
$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,17.225,17.675,331.975,96.450,0.000,0.000,0.000,96.975,0.000,0.000,26.732,553.664,835.055,473.841,504.813,249.638,33.236,809.479,0.000,338.791,0.000,26.990,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2090.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.682,0.000,0.000,0.000
$MEM,310196
$DATA_FILE_SIZE,6854,189
$CAP_FILE_SIZE,49985,0
$CFSIZE,260165632,210173952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,200913,193334,4807.010,-12222.782,15,1.8,21,18.0