version: 66.11
glider: 99
mission: 78
dive: 660
start: 9 26 113 4 39 33
data:
$ID,99
$MISSION,78
$DIVE,660
$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,400
$N_FILEKB,8
$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,-1241967.1
$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,7
$R_STBD_OVSHOOT,8
$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
$GPS1,260913,043104,4806.572,-12222.514,24,1.8,33,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,260913,043754,4806.691,-12222.550,9,1.7,17,18.0
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.114,-0.184
$KALMAN_X,286733.8,191.7,-157.8,-285161.4,-32.9
$KALMAN_Y,-180321.5,-130.2,47.6,178321.4,45.7
$MHEAD_RNG_PITCHd_Wd,130.2,3672,-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,-146.0,318,1986,1468,1524,0.0,0.0,0,105,0.00,0.17,-74.47,0.000,16390,0.000,0.000,319,2089,3722,3644,3801,0,0,0,0,0,0,28.83,24.17,24.18
$GC,113,-0.87,-146.0,318,2085,3641,3787,1.5,-1.1,11,126,6.20,2.40,0.00,0.000,2308,0.000,0.000,1536,3433,3727,3662,3792,0,0,0,0,0,0,24.17,24.17,28.83
$GC,193,-0.87,-146.0,1534,3479,3650,3789,7.9,-11.9,25,200,0.00,2.70,-0.05,0.000,17414,0.000,0.000,1534,1973,3725,3647,3804,0,0,0,0,0,0,28.83,24.17,24.17
$GC,515,-0.87,-146.0,1543,1975,3641,3782,37.9,-9.0,72,516,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,1973,3722,3661,3783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,833,-0.87,-146.0,1533,1975,3633,3782,66.2,-9.3,94,835,0.00,0.00,-0.03,0.000,16390,0.000,0.000,1536,1977,3735,3671,3799,0,0,0,0,0,0,28.83,28.83,24.13
$GC,1136,-0.87,-146.0,1535,1974,3657,3779,93.2,-9.2,109,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,1969,3720,3646,3795,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1213,begin apogee
$GC,1223,-0.31,0.0,1535,2030,3664,3800,100.4,-8.9,113,1348,0.62,0.17,119.20,0.001,10246,0.000,0.000,1644,1932,3143,3074,3213,0,0,0,0,0,0,24.17,24.16,24.12
$STATE,1349,end apogee,CONTROL_FINISHED_OK
$STATE,1350,begin climb
$GC,1353,0.87,146.0,1646,1931,3080,3191,108.2,0.0,119,1481,1.45,0.00,123.55,0.000,10246,0.000,0.000,1940,1934,2526,2467,2586,0,0,0,0,0,0,24.16,28.83,24.11
$GC,1773,0.87,146.0,1938,1934,2501,2599,86.0,7.2,141,1775,0.28,0.00,0.00,0.000,4102,0.000,0.000,1895,1932,2542,2483,2602,0,0,0,0,0,0,24.16,28.83,28.83
$GC,2077,0.87,146.0,1899,1928,2477,2585,64.0,7.4,156,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,1931,2534,2491,2578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2374,0.87,146.0,1905,1932,2483,2584,42.5,7.2,176,2378,0.00,2.78,0.00,0.000,260,0.000,0.000,1892,3446,2533,2482,2585,0,0,0,0,0,0,28.83,24.16,28.83
$GC,2611,0.87,146.0,1897,3455,2480,2576,25.3,7.5,199,2616,0.00,2.85,0.00,0.000,1030,0.000,0.000,1896,1907,2539,2493,2586,0,0,0,0,0,0,28.83,24.16,28.83
$GC,2929,0.87,146.0,1897,1906,2488,2586,6.2,6.6,259,2936,0.00,2.88,0.00,0.000,260,0.000,0.000,1890,3515,2534,2482,2586,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,3000,end climb,SURFACE_DEPTH_REACHED
$STATE,3000,begin surface coast
$FINISH,0.3,1.176583
$STATE,3031,end surface coast,CONTROL_FINISHED_OK
$STATE,3031,begin surface
$SM_CCo,3056,161.80,0.000,0,0,1496,400.08
$SM_GC,-0.01,7.95,2.92,161.80,0.000,0.000,0.000,333,1898,1496,-6.33,-1.27,400.08,0,0,0,0,0,0,24.16,24.17,24.13
$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,0.021721,0.021721
$HUMID,82.76
$INTERNAL_PRESSURE,16.026
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,75.1,0.0
$SC_FREEKB,3669952
$24V_AH,24.1,145.817
$10V_AH,10.7,57.412
$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,16.500,17.175,242.750,161.800,0.000,0.000,0.000,104.375,0.000,0.000,18.534,813.887,1453.318,430.168,687.628,293.793,33.245,850.655,0.000,465.940,720.000,24.716,0.000
$DEVICE_MAMPS,119.000,60.000,0.765,600.000,0.000,0.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3092.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.648,0.000,0.000,0.000
$MEM,310232
$DATA_FILE_SIZE,10144,278
$CAP_FILE_SIZE,65360,0
$CFSIZE,260165632,202936320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,260913,053501,4806.345,-12222.266,24,2.0,29,18.0