version: 66.11
glider: 99
mission: 78
dive: 668
start: 9 26 113 13 23 45
data:
$ID,99
$MISSION,78
$DIVE,668
$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,-1241977.1
$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,3
$R_STBD_OVSHOOT,2
$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
$GPS1,260913,131509,4805.256,-12221.303,23,1.7,30,18.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,260913,132206,4805.318,-12221.402,30,1.6,35,18.0
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.151,-0.155
$KALMAN_X,285372.0,-312.5,-83.5,-281947.1,-228.4
$KALMAN_Y,-178783.8,378.0,206.1,173573.0,189.5
$MHEAD_RNG_PITCHd_Wd,117.7,771,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.87,-146.0,317,2043,1465,1525,0.0,0.0,0,101,0.00,0.17,-74.32,0.000,16390,0.000,0.000,318,1916,3710,3636,3785,0,0,0,0,0,0,28.83,24.17,24.18
$GC,110,-0.87,-146.0,317,1912,3637,3787,1.5,-1.8,15,122,6.22,0.00,-0.05,0.000,18694,0.000,0.000,1546,1913,3715,3647,3784,0,0,0,0,0,0,24.17,28.83,24.14
$GC,432,-0.87,-146.0,1544,1917,3640,3792,32.2,-9.7,70,433,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,1912,3714,3647,3781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,742,-0.87,-146.0,1545,1912,3643,3792,58.8,-8.3,96,743,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,1909,3714,3651,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1043,-0.87,-146.0,1546,1911,3638,3782,85.9,-9.3,111,1044,0.00,0.00,-0.05,0.000,16390,0.000,0.000,1543,1914,3704,3629,3779,0,0,0,0,0,0,28.83,28.83,24.15
$STATE,1205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1205,begin apogee
$GC,1214,-0.31,0.0,1546,2065,3639,3794,100.9,-9.3,119,1345,0.57,0.25,118.75,0.000,10246,0.000,0.000,1661,1959,3140,3082,3199,0,0,0,0,0,0,24.17,24.16,24.12
$STATE,1346,end apogee,CONTROL_FINISHED_OK
$STATE,1346,begin climb
$GC,1350,0.87,146.0,1657,1959,3083,3201,111.1,0.0,126,1480,1.38,0.00,123.62,0.000,10246,0.000,0.000,1913,1958,2540,2491,2590,0,0,0,0,0,0,24.16,28.83,24.11
$GC,1782,0.87,146.0,1913,1957,2486,2604,92.1,6.4,148,1786,0.00,2.75,0.00,0.000,260,0.000,0.000,1913,3393,2540,2490,2590,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2062,0.87,146.0,1914,3405,2492,2587,73.8,6.8,161,2069,0.00,2.65,1.85,0.000,9222,0.000,0.000,1914,2018,2538,2496,2581,0,0,0,0,0,0,28.83,24.16,24.13
$GC,2369,0.87,146.0,1911,2006,2483,2578,52.5,6.2,177,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,2013,2539,2487,2591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2669,0.88,157.2,1913,2029,2488,2596,35.5,5.7,204,2685,0.00,0.00,11.12,0.000,8198,0.000,0.000,1912,2015,2489,2440,2539,0,0,0,0,0,0,28.83,28.83,24.12
$GC,2992,0.91,179.7,1914,2016,2441,2535,17.3,5.3,249,3040,0.00,2.70,35.65,0.000,8452,0.000,0.000,1913,3424,2393,2347,2439,0,0,0,0,1,0,28.83,24.16,24.11
$GC,3211,0.91,184.7,1906,3408,2335,2445,2.3,5.8,290,3219,0.00,2.67,2.60,0.000,9218,0.000,0.000,1914,1977,2380,2333,2427,0,0,0,0,0,0,28.83,24.16,28.83
$STATE,3220,end climb,SURFACE_DEPTH_REACHED
$STATE,3220,begin surface coast
$FINISH,0.3,1.185705
$STATE,3251,end surface coast,CONTROL_FINISHED_OK
$STATE,3251,begin surface
$SM_CCo,3274,138.12,0.000,0,0,1495,400.08
$SM_GC,-0.01,8.07,0.22,138.12,0.000,0.000,0.000,333,2067,1495,-6.32,0.54,400.08,0,0,0,0,0,0,24.16,24.16,24.13
$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,83.90
$INTERNAL_PRESSURE,16.0455
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,76.6,0.0
$SC_FREEKB,3667168
$24V_AH,24.1,146.917
$10V_AH,10.7,57.659
$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,16.250,12.025,293.600,138.125,0.000,0.000,0.000,100.900,0.000,0.000,37.407,806.311,1609.109,495.642,684.802,283.095,33.259,892.484,0.000,499.912,0.000,30.722,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,3307.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.608,0.000,0.000,0.000
$MEM,310136
$DATA_FILE_SIZE,10142,297
$CAP_FILE_SIZE,63275,0
$CFSIZE,260165632,202481664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$GPS,260913,142241,4805.164,-12221.242,34,1.5,44,18.0