version: 66.12
glider: 99
mission: 78
dive: 28
start: 12 31 113 14 2 39
data:
$ID,99
$MISSION,78
$DIVE,28
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,40
$T_MISSION,60
$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,-1249921.9
$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,6
$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,-1
$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,101
$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
$GPS1,311213,135734,4807.747,-12223.516,34,1.8,40,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,311213,140138,4807.734,-12223.551,13,1.2,21,18.0
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.195,0.133
$KALMAN_X,6728.8,5.3,96.3,-6779.9,32.4
$KALMAN_Y,-8417.6,67.0,-270.5,8653.9,68.0
$MHEAD_RNG_PITCHd_Wd,286.3,743,-14.1,-7.500,-17.65,2969
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.06,-146.0,321,1979,1667,1732,0.0,0.0,0,90,0.00,0.17,-67.53,0.000,16390,0.000,0.000,321,2064,3724,3656,3793,0,0,0,0,0,0,28.83,24.17,24.19
$GC,94,-1.06,-146.0,322,2071,3646,3785,0.3,-0.8,7,106,5.95,2.65,0.00,0.000,2308,0.000,0.000,1504,3415,3712,3646,3778,0,0,0,0,0,0,24.18,24.17,28.83
$GC,116,-1.06,-146.0,1505,3421,3639,3779,3.5,-7.5,9,122,0.00,2.75,0.00,0.000,1030,0.000,0.000,1509,1959,3718,3632,3804,0,0,0,0,0,0,28.83,24.18,28.83
$GC,423,-1.06,-146.0,1505,1972,3647,3783,30.6,-7.4,40,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1505,1966,3709,3628,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,733,-1.06,-146.0,1502,1968,3677,3787,53.1,-7.3,69,734,0.00,0.00,-0.05,0.000,16390,0.000,0.000,1505,1983,3721,3656,3786,0,0,0,0,0,0,28.83,28.83,24.15
$GC,1034,-1.06,-146.0,1498,1973,3640,3784,75.2,-7.3,84,1038,0.00,2.70,0.00,0.000,260,0.000,0.000,1504,3437,3719,3640,3799,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1067,-1.06,-146.0,1503,3426,3616,3802,76.5,-7.1,85,1071,0.00,2.67,-0.03,0.000,17414,0.000,0.000,1507,2008,3730,3654,3806,0,0,0,0,0,0,28.83,24.18,24.15
$STATE,1336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1336,begin apogee
$GC,1344,-0.31,0.0,1503,1968,3643,3788,90.3,-2.0,99,1473,0.85,0.15,118.10,0.001,10246,0.000,0.000,1652,2003,3138,3065,3211,0,0,0,0,0,0,24.18,24.18,24.13
$STATE,1476,end apogee,CONTROL_FINISHED_OK
$STATE,1476,begin climb
$GC,1479,1.06,146.0,1651,2006,3082,3227,86.2,0.0,106,1606,1.67,0.00,122.95,0.001,10246,0.000,0.000,1985,2014,2540,2492,2589,0,0,0,0,0,0,24.17,28.83,24.13
$GC,1892,1.06,146.0,1982,2003,2487,2590,55.5,7.8,127,1894,0.25,0.00,0.00,0.000,4102,0.000,0.000,1943,2031,2542,2494,2591,0,0,0,0,0,0,24.17,28.83,28.83
$GC,2194,1.07,154.1,1937,2003,2483,2586,33.7,7.2,153,2204,0.00,0.00,9.32,0.000,8198,0.000,0.000,1941,2009,2505,2459,2552,0,0,0,0,0,0,28.83,28.83,24.12
$GC,2510,1.08,164.2,1949,2008,2456,2551,10.8,7.2,184,2540,0.00,0.00,22.85,0.000,8198,0.000,0.000,1942,2003,2468,2422,2515,0,0,0,0,1,0,28.83,28.83,24.13
$STATE,2647,end climb,SURFACE_DEPTH_REACHED
$STATE,2647,begin surface coast
$FINISH,0.5,0.000000
$STATE,2690,end surface coast,CONTROL_FINISHED_OK
$STATE,2691,begin surface
$SM_CCo,2711,120.25,0.000,0,0,1702,350.29
$SM_GC,-0.01,8.25,0.00,120.25,0.000,0.000,0.000,313,2004,1702,-6.35,-0.03,350.29,0,0,0,0,0,0,24.18,28.83,24.14
$RAFOS_CLK,16
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.04494,0.04494
$HUMID,64.05
$INTERNAL_PRESSURE,16.0455
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.0,0.0
$SC_FREEKB,3950400
$24V_AH,24.0,185.369
$10V_AH,10.7,69.007
$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,16.975,11.450,273.225,120.250,0.000,0.000,0.000,63.900,0.000,0.000,22.480,0.000,1639.712,417.036,733.748,289.246,33.213,722.261,0.000,536.197,0.000,21.058,0.000
$DEVICE_MAMPS,119.000,60.000,0.765,600.000,0.000,0.000,0.000,56.610,0.000,0.000,50.000,0.000,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1221.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.078,0.000,0.000,0.000
$MEM,317504
$DATA_FILE_SIZE,6803,202
$CAP_FILE_SIZE,117964,0
$CFSIZE,260165632,242814976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,1344.52,0x2361c2,2,24
$SOUNDSPEED,1465.0
$GPS,311213,145045,4807.967,-12223.857,10,2.0,19,18.0