version: 66.12
glider: 99
mission: 78
dive: 48
start: 1 1 114 7 43 49
data:
$ID,99
$MISSION,78
$DIVE,48
$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,45
$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,-1249946.9
$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,4
$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,-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
$GPS1,010114,073840,4807.700,-12223.363,19,2.0,25,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,010114,074246,4807.708,-12223.358,8,1.8,16,18.0
$SPEED_LIMITS,0.067,0.226
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.212,0.079
$KALMAN_X,8517.6,197.7,136.1,-8563.5,97.3
$KALMAN_Y,-7940.2,-100.5,-68.9,8093.1,112.0
$MHEAD_RNG_PITCHd_Wd,272.5,960,-12.5,-6.667,-16.45,3333
$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,-0.96,-146.0,339,1980,1667,1735,0.0,0.0,0,86,0.00,0.00,-67.78,0.000,16390,0.000,0.000,338,1980,3706,3630,3783,0,0,0,0,0,0,28.83,28.83,24.19
$GC,90,-0.96,-146.0,339,1983,3637,3784,0.1,-0.2,7,104,6.00,2.65,-0.52,0.000,18948,0.000,0.000,1531,527,3718,3654,3783,0,0,0,0,0,0,24.17,24.18,24.19
$GC,384,-0.96,-146.0,1531,528,3662,3812,25.9,-7.1,36,390,0.00,2.70,0.00,0.000,1030,0.000,0.000,1531,2026,3718,3639,3798,0,0,0,0,0,0,28.83,24.18,28.83
$GC,694,-0.96,-146.0,1531,2028,3645,3798,46.0,-6.2,67,700,0.00,2.75,0.00,0.000,516,0.000,0.000,1531,542,3716,3651,3781,0,0,0,0,0,0,28.83,24.18,28.83
$GC,768,-0.96,-146.0,1531,542,3645,3786,50.2,-6.6,73,773,0.00,2.75,0.00,0.000,1030,0.000,0.000,1531,2050,3713,3637,3790,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1074,-0.96,-146.0,1534,2050,3653,3786,69.2,-6.0,89,1078,0.00,2.47,0.00,0.000,260,0.000,0.000,1530,3413,3711,3641,3782,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1133,-0.96,-146.0,1530,3417,3665,3795,72.6,-6.3,92,1137,0.00,2.75,-0.05,0.000,17414,0.000,0.000,1531,1968,3718,3643,3793,0,0,0,0,0,0,28.83,24.18,24.15
$GC,1447,-0.96,-146.0,1531,1954,3656,3795,89.8,-3.0,108,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,1960,3722,3649,3796,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1466,begin apogee
$GC,1473,-0.31,0.0,1531,1968,3655,3811,90.1,-2.1,109,1596,0.62,0.00,119.30,0.001,10246,0.000,0.000,1643,1969,3141,3085,3198,0,0,0,0,0,0,24.17,28.83,24.12
$STATE,1602,end apogee,CONTROL_FINISHED_OK
$STATE,1602,begin climb
$GC,1605,0.96,146.0,1643,1970,3076,3211,88.1,0.0,115,1736,1.55,0.00,123.95,0.001,10246,0.000,0.000,1932,1966,2539,2490,2588,0,0,0,0,0,0,24.18,28.83,24.13
$GC,2022,0.96,146.0,1939,1967,2476,2586,59.9,7.4,136,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,1969,2536,2485,2587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2323,0.97,153.6,1945,1963,2486,2583,40.2,6.4,158,2335,0.00,2.72,7.47,0.001,8708,0.000,0.000,1941,538,2507,2459,2556,0,0,0,0,0,0,28.83,24.18,24.12
$GC,2499,0.97,155.7,1938,539,2458,2556,29.1,6.6,174,2507,0.00,2.72,3.78,0.000,9222,0.000,0.000,1939,1980,2504,2444,2564,0,0,0,0,0,0,28.83,24.18,24.13
$GC,2817,0.99,170.6,1940,1979,2448,2547,7.4,6.2,205,2850,0.00,0.00,26.45,0.000,8198,0.000,0.000,1940,1988,2430,2382,2478,0,0,0,0,1,0,28.83,28.83,24.12
$STATE,2904,end climb,SURFACE_DEPTH_REACHED
$STATE,2904,begin surface coast
$FINISH,0.5,0.000000
$STATE,2937,end surface coast,CONTROL_FINISHED_OK
$STATE,2937,begin surface
$SM_CCo,2958,113.90,0.000,0,0,1703,350.53
$SM_GC,-0.01,8.18,0.20,113.90,0.000,0.000,0.000,322,2014,1703,-6.31,0.31,350.53,0,0,0,0,0,0,24.18,24.17,24.14
$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,0.062916,0.062916
$HUMID,68.15
$INTERNAL_PRESSURE,16.1334
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.6,0.0
$SC_FREEKB,3947648
$24V_AH,24.0,185.808
$10V_AH,10.5,69.537
$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,16.350,21.725,280.950,113.900,0.000,0.000,0.000,70.275,0.000,0.000,17.219,0.000,1677.938,383.357,916.449,345.416,33.229,780.542,0.000,698.488,0.000,26.598,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,1343.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.081,0.000,0.000,0.000
$MEM,317572
$DATA_FILE_SIZE,6814,217
$CAP_FILE_SIZE,147958,0
$CFSIZE,260165632,241868800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$GPS,010114,083602,4807.820,-12223.690,23,1.5,27,18.0