version: 66.12
glider: 99
mission: 78
dive: 51
start: 1 1 114 10 33 2
data:
$ID,99
$MISSION,78
$DIVE,51
$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,-1249950.6
$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,8
$R_STBD_OVSHOOT,66
$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
$GPS1,010114,102734,4807.751,-12223.698,20,1.8,28,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,010114,103159,4807.722,-12223.627,29,1.8,36,18.0
$SPEED_LIMITS,0.067,0.226
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.096,-0.204
$KALMAN_X,8977.0,248.4,96.6,-9366.0,50.7
$KALMAN_Y,-7972.3,-104.1,113.5,7974.7,16.0
$MHEAD_RNG_PITCHd_Wd,136.7,1546,-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,-146.0,353,1986,1674,1735,0.0,0.0,0,90,0.00,0.00,-67.47,0.000,16390,0.000,0.000,352,1996,3726,3660,3793,0,0,0,0,0,0,28.83,28.83,24.19
$GC,94,-0.96,-146.0,352,1996,3636,3811,0.2,-0.5,7,106,5.88,2.58,0.00,0.000,2308,0.000,0.000,1512,3376,3718,3639,3797,0,0,0,0,0,0,24.18,24.18,28.83
$GC,378,-0.96,-146.0,1515,3376,3645,3799,26.6,-7.1,35,383,0.00,2.60,0.00,0.000,1030,0.000,0.000,1511,1998,3734,3652,3816,0,0,0,0,0,0,28.83,24.18,28.83
$GC,689,-0.96,-146.0,1511,2004,3645,3799,47.2,-6.8,66,690,0.00,0.00,0.00,0.000,6,0.000,0.000,1513,1996,3725,3637,3814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1003,-0.96,-146.0,1509,1998,3647,3789,67.1,-6.4,84,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,1996,3716,3645,3787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1300,-0.96,-146.0,1512,1996,3642,3773,86.6,-6.7,99,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,1513,1997,3740,3666,3814,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1403,begin apogee
$GC,1411,-0.31,0.0,1513,2004,3644,3802,90.2,-2.8,104,1533,0.70,0.00,118.55,0.001,10246,0.000,0.000,1641,1999,3141,3088,3195,0,0,0,0,0,0,24.17,28.83,24.12
$STATE,1539,end apogee,CONTROL_FINISHED_OK
$STATE,1539,begin climb
$GC,1542,0.96,146.0,1643,1998,3071,3202,88.9,0.0,110,1670,1.58,0.00,123.35,0.001,10758,0.000,0.000,1955,1994,2538,2491,2586,0,0,0,0,0,0,24.17,28.83,24.13
$GC,1975,0.96,146.0,1952,1998,2486,2597,58.6,7.2,132,1980,0.17,2.55,0.00,0.000,4356,0.000,0.000,1939,3428,2540,2491,2590,0,0,0,0,0,0,24.17,24.18,28.83
$GC,2018,0.96,146.0,1931,3409,2491,2583,55.5,7.7,134,2022,0.00,2.67,0.00,0.000,1030,0.000,0.000,1933,1987,2540,2491,2590,0,0,0,0,0,0,28.83,24.18,28.83
$GC,2328,0.98,163.3,1939,1985,2493,2588,35.6,6.1,161,2346,0.00,0.00,16.30,0.001,8198,0.000,0.000,1938,1982,2467,2419,2516,0,0,0,0,0,0,28.83,28.83,24.12
$GC,2655,0.98,164.1,1932,1980,2418,2522,13.0,6.6,193,2658,0.00,0.00,2.38,0.000,8198,0.000,0.000,1936,1992,2469,2422,2516,0,0,0,0,0,0,28.83,28.83,24.14
$STATE,2832,end climb,SURFACE_DEPTH_REACHED
$STATE,2833,begin surface coast
$STATE,2863,end surface coast,CONTROL_FINISHED_OK
$STATE,2863,begin surface
$SM_CCo,2887,119.07,0.000,0,0,1703,350.29
$SM_GC,-0.00,8.07,0.00,119.07,0.000,0.000,0.000,335,1997,1703,-6.27,-0.62,350.29,0,0,0,0,0,0,24.18,28.83,24.14
$RAFOS_CLK,22
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.044191,0.044191
$HUMID,66.69
$INTERNAL_PRESSURE,16.1237
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.9,0.0
$SC_FREEKB,3947264
$24V_AH,24.0,185.876
$10V_AH,10.5,69.618
$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,16.400,10.400,260.575,119.075,0.000,0.000,0.000,68.575,0.000,0.000,37.913,0.000,1750.865,311.008,902.835,312.120,33.229,730.841,0.000,576.483,0.000,26.885,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,20.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.566,0.000,0.000,0.000
$MEM,317512
$DATA_FILE_SIZE,6824,214
$CAP_FILE_SIZE,123442,0
$CFSIZE,260165632,241745920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,010114,112405,4807.486,-12223.428,15,1.8,22,18.0