version: 66.12
glider: 99
mission: 78
dive: 52
start: 1 1 114 11 29 10
data:
$ID,99
$MISSION,78
$DIVE,52
$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,-1249951.9
$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,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
$GPS1,010114,112405,4807.486,-12223.428,15,1.8,22,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,010114,112807,4807.467,-12223.403,9,2.0,14,18.0
$SPEED_LIMITS,0.067,0.226
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.102,-0.201
$KALMAN_X,9029.2,251.2,63.0,-9108.5,16.3
$KALMAN_Y,-7904.5,-106.9,120.6,7428.5,38.0
$MHEAD_RNG_PITCHd_Wd,135.1,998,-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,-146.0,336,1984,1670,1735,0.0,0.0,0,86,0.00,0.00,-67.70,0.000,16390,0.000,0.000,336,1985,3709,3646,3772,0,0,0,0,0,0,28.83,28.83,24.19
$GC,90,-0.96,-146.0,336,1983,3655,3779,0.1,-0.3,7,104,5.97,2.65,0.00,0.000,2308,0.000,0.000,1511,3398,3707,3636,3779,0,0,0,0,0,0,24.18,24.17,28.83
$GC,381,-0.96,-146.0,1515,3435,3634,3789,26.8,-6.9,36,387,0.00,2.78,-0.17,0.000,17414,0.000,0.000,1513,1957,3710,3636,3784,0,0,0,0,0,0,28.83,24.18,24.19
$GC,689,-0.96,-146.0,1511,1944,3629,3781,47.1,-6.9,67,695,0.00,2.65,-0.03,0.000,16644,0.000,0.000,1511,3387,3723,3645,3802,0,0,0,0,0,0,28.83,24.18,24.13
$GC,752,-0.96,-146.0,1510,3381,3643,3790,51.2,-6.3,73,757,0.00,2.62,0.00,0.000,1030,0.000,0.000,1511,1961,3723,3643,3803,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1070,-0.96,-146.0,1511,1967,3636,3793,71.8,-6.3,89,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,1510,1969,3723,3642,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1372,-0.96,-146.0,1517,1962,3664,3787,89.3,-4.9,104,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,1970,3710,3635,3786,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1415,begin apogee
$GC,1423,-0.31,0.0,1511,1975,3648,3795,90.0,-2.4,106,1552,0.80,0.00,118.80,0.001,10246,0.000,0.000,1686,1969,3132,3077,3187,0,0,0,0,0,0,24.18,28.83,24.12
$STATE,1555,end apogee,CONTROL_FINISHED_OK
$STATE,1555,begin climb
$GC,1558,0.96,146.0,1678,1968,3074,3196,87.3,0.0,113,1687,1.35,0.00,122.90,0.001,10246,0.000,0.000,1950,1975,2537,2489,2586,0,0,0,0,0,0,24.18,28.83,24.12
$GC,1974,0.96,146.0,1942,1971,2478,2574,59.5,6.9,134,1975,0.20,0.00,0.00,0.000,4102,0.000,0.000,1939,1961,2540,2490,2591,0,0,0,0,0,0,24.17,28.83,28.83
$GC,2278,0.97,156.6,1945,1967,2489,2583,40.5,6.3,156,2292,0.00,0.00,10.43,0.001,8198,0.000,0.000,1939,1963,2498,2445,2551,0,0,0,0,0,0,28.83,28.83,24.13
$GC,2595,0.97,156.6,1936,1973,2456,2542,19.3,6.8,188,2596,0.00,0.00,0.10,0.000,8198,0.000,0.000,1937,1969,2498,2453,2544,0,0,0,0,0,0,28.83,28.83,24.13
$STATE,2886,end climb,SURFACE_DEPTH_REACHED
$STATE,2886,begin surface coast
$FINISH,0.3,0.000000
$STATE,2926,end surface coast,CONTROL_FINISHED_OK
$STATE,2926,begin surface
$SM_CCo,2947,123.70,0.000,0,0,1700,350.04
$SM_GC,-0.01,8.15,0.00,123.70,0.000,0.000,0.000,320,1961,1700,-6.33,-0.90,350.04,0,0,0,0,0,0,24.18,28.83,24.14
$RAFOS_CLK,18
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.06741,0.06741
$HUMID,66.65
$INTERNAL_PRESSURE,16.1334
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.5,0.0
$SC_FREEKB,3947136
$24V_AH,24.0,185.898
$10V_AH,10.7,69.645
$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,16.475,10.700,252.225,123.700,0.000,0.000,0.000,67.500,0.000,0.000,15.256,0.000,1724.885,362.918,891.768,337.775,33.232,737.067,0.000,682.264,0.000,26.988,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,1380.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.172,0.000,0.000,0.000
$MEM,317580
$DATA_FILE_SIZE,6821,221
$CAP_FILE_SIZE,144236,0
$CFSIZE,260165632,241680384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,010114,122115,4807.247,-12223.235,15,1.5,20,18.0