version: 66.11
glider: 99
mission: 78
dive: 614
start: 9 24 113 4 8 17
data:
$ID,99
$MISSION,78
$DIVE,614
$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,-1241909.6
$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,5
$R_STBD_OVSHOOT,44
$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
$GPS1,240913,035923,4805.437,-12221.686,8,1.7,12,18.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,240913,040639,4805.480,-12221.744,15,1.6,24,18.0
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.189,-0.107
$KALMAN_X,290862.0,-307.0,113.9,-288067.1,-174.0
$KALMAN_Y,-183985.5,341.0,-126.5,179449.5,-84.9
$MHEAD_RNG_PITCHd_Wd,101.5,1280,-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,-146.0,341,1994,1666,1728,0.0,0.0,0,96,0.00,0.00,-67.55,0.000,16390,0.000,0.000,340,1995,3719,3660,3779,0,0,0,0,0,0,28.83,28.83,24.18
$GC,101,-0.87,-146.0,340,1995,3642,3794,1.5,-1.8,14,114,6.12,2.62,0.00,0.000,2564,0.000,0.000,1529,517,3724,3653,3796,0,0,0,0,0,0,24.17,24.16,28.83
$GC,221,-0.87,-146.0,1531,517,3655,3798,12.3,-9.6,36,228,0.00,2.75,0.00,0.000,1030,0.000,0.000,1527,1994,3712,3631,3793,0,0,0,0,0,0,28.83,24.17,28.83
$GC,539,-0.87,-146.0,1530,1993,3634,3789,42.7,-9.1,79,545,0.00,0.00,-0.05,0.000,16390,0.000,0.000,1530,1994,3716,3647,3786,0,0,0,0,0,0,28.83,28.83,24.15
$GC,867,-0.87,-146.0,1530,1993,3643,3799,71.5,-8.5,99,868,0.00,0.00,-0.08,0.000,16390,0.000,0.000,1528,1993,3715,3642,3789,0,0,0,0,0,0,28.83,28.83,24.17
$GC,1167,-0.87,-146.0,1525,1981,3644,3794,96.3,-8.4,114,1172,0.00,2.65,0.00,0.000,516,0.000,0.000,1529,532,3712,3645,3779,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,1211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1215,begin apogee
$GC,1226,-0.31,0.0,1529,2060,3641,3808,100.1,-8.4,116,1361,0.70,0.25,119.97,0.000,10246,0.000,0.000,1659,1913,3125,3068,3182,0,0,0,0,0,0,24.17,24.17,24.12
$STATE,1367,end apogee,CONTROL_FINISHED_OK
$STATE,1367,begin climb
$GC,1370,0.87,146.0,1656,1919,3078,3214,109.7,0.0,122,1497,1.27,0.00,122.07,0.000,10246,0.000,0.000,1909,1916,2534,2485,2584,0,0,0,0,0,0,24.16,28.83,24.11
$GC,1796,0.87,146.0,1910,1919,2489,2595,90.1,7.5,145,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,1912,2532,2481,2583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2099,0.87,146.0,1911,1917,2491,2590,66.6,7.6,160,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,1918,2540,2483,2597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2399,0.87,146.0,1914,1918,2489,2596,45.9,6.3,178,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,1917,2536,2490,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2717,0.87,146.0,1908,1918,2490,2598,25.4,6.0,208,2724,0.00,0.00,0.40,0.000,8198,0.000,0.000,1911,1929,2531,2484,2578,0,0,0,0,0,0,28.83,28.83,24.13
$GC,3045,0.87,146.0,1911,1917,2488,2590,5.1,6.0,269,3052,0.00,2.85,0.15,0.000,8452,0.000,0.000,1912,3446,2537,2489,2585,0,0,0,0,0,0,28.83,24.17,24.13
$STATE,3099,end climb,SURFACE_DEPTH_REACHED
$STATE,3100,begin surface coast
$FINISH,0.2,1.169075
$STATE,3162,end surface coast,CONTROL_FINISHED_OK
$STATE,3163,begin surface
$SM_CCo,3191,130.57,0.000,0,0,1700,350.04
$SM_GC,-0.01,7.97,2.83,130.57,0.000,0.000,0.000,356,2002,1700,-6.27,0.06,350.04,0,0,0,0,0,0,24.17,24.17,24.13
$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,0.02247,0.02247
$HUMID,83.39
$INTERNAL_PRESSURE,15.9869
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,76.5,0.0
$SC_FREEKB,3685600
$24V_AH,24.1,140.108
$10V_AH,10.7,56.029
$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,16.075,16.800,242.600,130.575,0.000,0.000,0.000,117.950,0.000,0.000,24.947,888.981,1502.783,426.185,675.015,314.941,33.275,832.703,0.000,460.437,1800.000,28.562,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,3218.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.594,0.000,0.000,0.000
$MEM,310212
$DATA_FILE_SIZE,10131,287
$CAP_FILE_SIZE,72480,0
$CFSIZE,260165632,205500416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,240913,050518,4805.270,-12221.383,14,1.8,19,18.0