version: 66.11
glider: 99
mission: 78
dive: 550
start: 9 21 113 17 11 34
data:
$ID,99
$MISSION,78
$DIVE,550
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$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,53
$T_MISSION,65
$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,350
$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,-1241823.6
$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,25
$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
$GPS1,210913,170323,4808.057,-12223.997,28,1.8,35,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,210913,170955,4808.045,-12224.020,23,1.2,29,18.0
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.163,-0.171
$KALMAN_X,293116.9,-26.2,-61.8,-293238.4,-109.2
$KALMAN_Y,-181717.9,-115.5,58.1,182201.6,-34.2
$MHEAD_RNG_PITCHd_Wd,118.4,6764,-14.1,-7.547,-17.71,2951
$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,-1.06,-146.0,348,2016,1667,1732,0.0,0.0,0,93,0.00,0.00,-67.40,0.000,16390,0.000,0.000,348,2014,3716,3647,3786,0,0,0,0,0,0,28.83,28.83,24.18
$GC,98,-1.06,-146.0,348,2014,3635,3806,1.5,-1.0,9,111,5.82,2.62,-0.08,0.000,18948,0.000,0.000,1493,540,3709,3637,3782,0,0,0,0,0,0,24.17,24.17,24.19
$GC,389,-1.06,-146.0,1513,541,3628,3806,33.8,-10.5,56,396,0.00,2.70,0.00,0.000,1030,0.000,0.000,1492,2023,3719,3654,3785,0,0,0,0,0,0,28.83,24.17,28.83
$GC,697,-1.06,-146.0,1494,2036,3635,3773,67.3,-10.8,79,698,0.00,0.00,0.00,0.000,6,0.000,0.000,1492,2020,3718,3652,3784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,996,-1.06,-146.0,1493,2023,3627,3815,98.9,-10.7,94,998,0.00,0.00,-0.28,0.000,16390,0.000,0.000,1494,2024,3711,3637,3786,0,0,0,0,0,0,28.83,28.83,24.18
$STATE,1017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1017,begin apogee
$GC,1027,-0.31,0.0,1492,2023,3650,3782,101.0,-10.7,95,1157,0.85,0.12,119.43,0.000,10246,0.000,0.000,1657,1987,3141,3085,3198,0,0,0,0,0,0,24.17,24.16,24.12
$STATE,1159,end apogee,CONTROL_FINISHED_OK
$STATE,1159,begin climb
$GC,1164,1.06,146.0,1656,1989,3077,3197,106.8,0.0,102,1294,1.62,0.00,122.47,0.000,10246,0.000,0.000,1974,1992,2536,2481,2591,0,0,0,0,0,0,24.16,28.83,24.12
$GC,1596,1.06,146.0,1973,1987,2489,2586,72.2,9.3,124,1601,0.00,2.83,0.00,0.000,260,0.000,0.000,1974,3499,2535,2482,2588,0,0,0,0,0,0,28.83,24.16,28.83
$GC,1663,1.06,146.0,1996,3489,2486,2587,65.7,10.1,127,1672,0.47,2.85,0.00,0.000,5126,0.000,0.000,1886,1986,2537,2485,2589,0,0,0,0,0,0,24.16,24.17,28.83
$GC,1982,1.06,146.0,1885,1983,2482,2582,35.8,8.7,150,1988,0.45,0.00,0.00,0.000,2054,0.000,0.000,1973,1983,2539,2490,2588,0,0,0,0,0,0,24.17,28.83,28.83
$GC,2296,1.06,146.0,1977,1984,2492,2587,9.4,8.2,199,2303,0.15,0.00,0.40,0.000,12294,0.000,0.000,1933,1978,2535,2482,2588,0,0,0,0,0,0,24.16,28.83,24.14
$STATE,2406,end climb,SURFACE_DEPTH_REACHED
$STATE,2406,begin surface coast
$FINISH,0.3,1.176872
$STATE,2448,end surface coast,CONTROL_FINISHED_OK
$STATE,2451,begin surface
$SM_CCo,2473,130.77,0.000,0,0,1702,350.29
$SM_GC,-0.01,8.15,0.00,130.77,0.000,0.000,0.000,333,1970,1702,-6.32,-0.42,350.29,0,0,0,0,0,0,24.17,28.83,24.13
$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,82.01
$INTERNAL_PRESSURE,15.8698
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,75.8,0.0
$SC_FREEKB,3706528
$24V_AH,24.1,132.654
$10V_AH,10.7,54.306
$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,17.525,11.150,242.300,130.775,0.000,0.000,0.000,96.800,0.000,0.000,30.667,648.421,1145.767,423.379,570.053,260.260,33.250,774.079,0.000,388.496,0.000,27.722,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2489.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.645,0.000,0.000,0.000
$MEM,310204
$DATA_FILE_SIZE,6842,228
$CAP_FILE_SIZE,53574,0
$CFSIZE,260165632,208838656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,210913,175656,4807.875,-12223.785,32,1.8,38,18.0