version: 66.11
glider: 99
mission: 78
dive: 609
start: 9 23 113 22 53 42
data:
$ID,99
$MISSION,78
$DIVE,609
$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,67
$T_MISSION,80
$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,-1241903.4
$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,43
$R_STBD_OVSHOOT,29
$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
$GPS1,230913,224450,4806.770,-12223.006,28,1.7,35,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,230913,225207,4806.841,-12223.055,23,1.6,30,18.0
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.115,-0.184
$KALMAN_X,291957.2,-148.7,-146.9,-290677.5,-188.3
$KALMAN_Y,-184015.4,255.2,73.7,181882.5,352.4
$MHEAD_RNG_PITCHd_Wd,130.0,4253,-11.0,-5.970,-15.41,3713
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.87,-146.0,321,1992,1669,1731,0.0,0.0,0,95,0.00,0.00,-67.05,0.000,16390,0.000,0.000,321,1992,3713,3643,3783,0,0,0,0,0,0,28.83,28.83,24.18
$GC,101,-0.87,-146.0,321,1993,3637,3785,1.6,-2.1,14,113,6.10,2.62,0.00,0.000,2564,0.000,0.000,1538,537,3708,3640,3776,0,0,0,0,0,0,24.17,24.17,28.83
$GC,205,-0.87,-146.0,1556,537,3660,3779,7.8,-8.3,33,211,0.00,2.75,0.00,0.000,1030,0.000,0.000,1539,2040,3718,3654,3783,0,0,0,0,0,0,28.83,24.17,28.83
$GC,520,-0.87,-146.0,1537,2038,3642,3778,36.8,-10.0,83,526,0.00,0.00,-0.10,0.000,16390,0.000,0.000,1538,2037,3719,3653,3785,0,0,0,0,0,0,28.83,28.83,24.18
$GC,841,-0.87,-146.0,1539,2041,3640,3824,69.1,-10.3,106,842,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,2039,3717,3647,3788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1140,-0.87,-146.0,1539,2037,3643,3781,98.1,-9.5,121,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,2038,3716,3656,3776,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1162,begin apogee
$GC,1171,-0.31,0.0,1539,2041,3642,3813,100.0,-9.6,122,1302,0.60,0.03,119.03,0.000,10246,0.000,0.002,1651,2039,3133,3066,3201,0,0,0,0,0,0,24.17,24.17,24.12
$STATE,1303,end apogee,CONTROL_FINISHED_OK
$STATE,1304,begin climb
$GC,1308,0.87,146.0,1652,2038,3065,3213,103.7,0.0,129,1438,1.42,0.00,122.50,0.000,10246,0.000,0.000,1914,2035,2545,2488,2603,0,0,0,0,0,0,24.16,28.83,24.12
$GC,1741,0.89,165.3,1912,2040,2489,2586,80.0,5.4,151,1761,0.00,0.00,17.38,0.000,8454,0.000,0.000,1917,2039,2463,2417,2509,0,0,0,0,0,0,28.83,28.83,24.11
$GC,2081,0.92,191.7,1916,2039,2412,2508,61.8,5.2,168,2108,0.00,0.00,24.70,0.000,8198,0.000,0.000,1905,2037,2346,2300,2393,0,0,0,0,0,0,28.83,28.83,24.12
$GC,2401,0.99,249.4,1915,2041,2305,2385,45.6,4.4,188,2459,0.17,2.47,49.12,0.000,10500,0.000,0.000,1954,3362,2115,2070,2160,0,0,0,0,0,0,24.16,24.17,24.12
$GC,2646,1.03,279.2,1981,3356,2069,2154,34.3,5.1,212,2678,0.00,2.62,26.65,0.000,9222,0.000,0.000,1957,1971,1983,1939,2027,0,0,0,0,0,0,28.83,24.17,24.12
$GC,2986,1.03,279.2,1960,1966,1955,2033,12.2,7.6,262,2993,0.00,2.60,0.00,0.000,516,0.000,0.000,1958,541,1991,1953,2030,0,0,0,0,0,0,28.83,24.17,28.83
$GC,3110,1.07,309.6,1953,542,1948,2031,2.5,5.1,285,3123,0.00,2.75,7.20,0.000,9218,0.000,0.000,1956,2054,1947,1913,1982,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,3124,end climb,SURFACE_DEPTH_REACHED
$STATE,3124,begin surface coast
$FINISH,0.5,1.180813
$STATE,3140,end surface coast,CONTROL_FINISHED_OK
$STATE,3140,begin surface
$SM_CCo,3164,38.30,0.000,0,0,1700,350.04
$SM_GC,-0.01,8.38,0.22,38.30,0.000,0.000,0.000,315,1985,1700,-6.42,-0.57,350.04,0,0,0,0,0,0,24.16,24.16,24.13
$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,84.81
$INTERNAL_PRESSURE,15.9674
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,75.0,0.0
$SC_FREEKB,3687360
$24V_AH,24.1,139.523
$10V_AH,10.7,55.883
$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,16.675,16.075,366.575,38.300,0.000,0.000,0.000,110.375,0.000,0.000,31.452,758.600,1501.753,462.647,666.960,295.136,33.240,859.984,0.000,474.793,0.000,24.714,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,3198.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.630,0.000,0.000,0.000
$MEM,310232
$DATA_FILE_SIZE,10178,290
$CAP_FILE_SIZE,63622,0
$CFSIZE,260165632,205795328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,230913,234906,4806.498,-12222.834,34,1.6,41,18.0