version: 66.12
glider: 99
mission: 78
dive: 30
start: 12 31 113 15 50 8
data:
$ID,99
$MISSION,78
$DIVE,30
$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,-1249924.4
$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,4
$R_STBD_OVSHOOT,6
$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
$GPS1,311213,154438,4807.686,-12223.581,24,2.0,30,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,311213,154905,4807.684,-12223.579,34,1.9,40,18.0
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,50.000
$KALMAN_CONTROL,0.087,-0.219
$KALMAN_X,7082.2,-124.9,71.2,-7013.0,29.2
$KALMAN_Y,-8591.6,267.9,-181.9,8448.2,106.4
$MHEAD_RNG_PITCHd_Wd,140.4,1455,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.06,-146.0,332,2046,1664,1733,0.0,0.0,0,91,0.00,0.20,-67.43,0.000,16390,0.000,0.000,331,1933,3707,3634,3781,0,0,0,0,0,0,28.83,24.18,24.19
$GC,95,-1.06,-146.0,331,1935,3644,3781,0.5,-1.1,7,107,5.82,2.60,-0.03,0.000,18948,0.000,0.000,1483,541,3712,3629,3795,0,0,0,0,0,0,24.18,24.18,24.15
$GC,357,-1.06,-146.0,1482,542,3633,3800,25.2,-7.8,33,363,0.00,2.72,0.00,0.000,1030,0.000,0.000,1483,2063,3725,3649,3802,0,0,0,0,0,0,28.83,24.17,28.83
$GC,669,-1.06,-146.0,1481,2054,3645,3783,47.2,-6.8,64,670,0.00,0.00,0.00,0.000,6,0.000,0.000,1484,2048,3709,3638,3780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,980,-1.06,-146.0,1482,2051,3627,3794,68.7,-7.0,82,982,0.00,0.00,-0.25,0.000,16390,0.000,0.000,1483,2057,3734,3674,3794,0,0,0,0,0,0,28.83,28.83,24.18
$GC,1280,-1.06,-146.0,1485,2052,3639,3795,89.2,-6.0,97,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,1480,2057,3726,3646,3806,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1343,begin apogee
$GC,1351,-0.31,0.0,1484,1951,3637,3815,90.3,-2.2,100,1479,0.93,0.15,119.68,0.001,10246,0.000,0.000,1644,2029,3132,3068,3196,0,0,0,0,0,0,24.18,24.18,24.13
$STATE,1480,end apogee,CONTROL_FINISHED_OK
$STATE,1480,begin climb
$GC,1483,1.06,146.0,1645,2027,3061,3189,87.4,0.0,107,1609,1.58,0.00,122.18,0.001,10246,0.000,0.000,1961,2031,2540,2492,2589,0,0,0,0,0,0,24.18,28.83,24.12
$GC,1900,1.06,146.0,1960,2031,2506,2590,57.3,7.8,128,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2027,2540,2484,2597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2203,1.08,161.4,1958,2024,2491,2600,36.2,7.0,152,2218,0.00,0.00,14.02,0.001,8198,0.000,0.000,1965,2027,2477,2428,2526,0,0,0,0,0,0,28.83,28.83,24.12
$GC,2526,1.09,175.0,1956,2023,2436,2529,12.0,7.0,184,2562,0.00,0.00,28.12,0.000,8198,0.000,0.000,1961,2033,2423,2375,2472,0,0,0,0,1,0,28.83,28.83,24.13
$STATE,2686,end climb,SURFACE_DEPTH_REACHED
$STATE,2686,begin surface coast
$STATE,2717,end surface coast,CONTROL_FINISHED_OK
$STATE,2717,begin surface
$SM_CCo,2739,111.97,0.000,0,0,1704,350.04
$SM_GC,-0.01,8.32,0.00,111.97,0.000,0.000,0.000,332,2027,1704,-6.38,0.99,350.04,0,0,0,0,0,0,24.18,28.83,24.14
$RAFOS_CLK,398
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.042693,0.042693
$HUMID,63.97
$INTERNAL_PRESSURE,16.0455
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,66.0,0.0
$SC_FREEKB,3950144
$24V_AH,24.0,185.410
$10V_AH,10.7,69.058
$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,16.650,6.150,284.000,111.975,0.000,0.000,0.000,67.500,0.000,0.000,42.050,0.000,1639.354,403.224,784.492,295.799,33.255,730.497,0.000,541.754,0.000,23.830,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,1487.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.203,0.000,0.000,0.000
$MEM,317552
$DATA_FILE_SIZE,6822,203
$CAP_FILE_SIZE,118346,0
$CFSIZE,260165632,242724864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$GPS,311213,163856,4807.379,-12223.296,36,1.5,43,18.0