version: 66.12
glider: 99
mission: 78
dive: 55
start: 1 1 114 14 9 45
data:
$ID,99
$MISSION,78
$DIVE,55
$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,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-05
$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,-1249955.6
$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,1
$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
$GPS1,010114,140415,4807.043,-12223.010,27,1.7,34,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,010114,140841,4807.006,-12223.011,32,1.9,37,18.0
$SPEED_LIMITS,0.067,0.179
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.087,-0.157
$KALMAN_X,9208.0,191.9,-66.8,-8613.6,4.8
$KALMAN_Y,-7631.8,-43.4,66.4,6293.7,63.3
$MHEAD_RNG_PITCHd_Wd,132.8,2244,-14.9,-6.667,-20.39,2998
$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,-1.11,-146.0,324,1933,1668,1731,0.0,0.0,0,85,0.00,0.00,-67.05,0.000,16390,0.000,0.000,323,1941,3701,3625,3778,0,0,0,0,0,0,28.83,28.83,24.19
$GC,90,-1.11,-146.0,323,1948,3645,3775,-0.0,0.0,7,100,5.85,2.67,0.00,0.000,2564,0.000,0.000,1504,524,3703,3634,3772,0,0,0,0,0,0,24.17,24.18,28.83
$GC,243,-1.11,-146.0,1504,524,3621,3771,14.7,-8.1,21,249,0.20,2.72,-0.57,0.000,21510,0.000,0.000,1457,1961,3735,3673,3798,0,0,0,0,0,0,24.18,24.18,24.18
$GC,558,-1.11,-146.0,1461,1965,3653,3782,36.0,-6.4,52,559,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,1973,3735,3671,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,862,-1.11,-146.0,1462,1970,3643,3790,56.0,-6.7,78,862,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,1960,3719,3649,3789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1175,-1.11,-146.0,1461,1963,3646,3801,77.0,-7.0,93,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,1965,3739,3675,3803,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1401,begin apogee
$GC,1409,-0.31,0.0,1462,2005,3671,3801,90.1,-2.3,105,1536,1.08,0.25,120.40,0.001,10246,0.000,0.000,1664,1909,3131,3074,3189,0,0,0,0,0,0,24.17,24.17,24.13
$STATE,1542,end apogee,CONTROL_FINISHED_OK
$STATE,1542,begin climb
$GC,1545,1.11,146.0,1663,1913,3075,3195,86.7,0.0,112,1674,1.62,0.00,121.78,0.000,10246,0.000,0.000,1988,1910,2541,2490,2592,0,0,0,0,0,0,24.17,28.83,24.12
$GC,1963,1.11,146.0,1985,1908,2500,2585,53.0,8.6,133,1967,0.22,0.00,2.55,0.000,12294,0.000,0.000,1950,1913,2537,2490,2584,0,0,0,0,0,0,24.17,28.83,24.13
$GC,2265,1.11,146.0,1960,1913,2503,2616,29.7,7.6,161,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,1918,2545,2504,2587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2566,1.11,146.0,1954,1915,2489,2572,7.9,7.8,191,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,1916,2534,2478,2591,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2663,end climb,SURFACE_DEPTH_REACHED
$STATE,2663,begin surface coast
$STATE,2706,end surface coast,CONTROL_FINISHED_OK
$STATE,2706,begin surface
$SM_CCo,2728,130.77,0.000,0,0,1699,350.29
$SM_GC,-0.01,8.20,0.25,130.77,0.000,0.000,0.000,331,2061,1699,-6.30,0.23,350.29,0,0,0,0,0,0,24.18,24.17,24.14
$RAFOS_CLK,30
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.043442,0.043442
$HUMID,67.48
$INTERNAL_PRESSURE,16.1237
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.8,0.0
$SC_FREEKB,3946688
$24V_AH,24.0,185.970
$10V_AH,10.6,69.722
$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,17.175,6.075,244.725,130.775,0.000,0.000,0.000,68.525,0.000,0.000,38.865,0.000,1634.793,390.966,793.489,313.583,33.229,703.147,0.000,601.097,0.000,23.794,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,21.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.552,0.000,0.000,0.000
$MEM,317476
$DATA_FILE_SIZE,6816,205
$CAP_FILE_SIZE,126695,0
$CFSIZE,260165632,241561600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,010114,145841,4806.821,-12222.668,36,1.7,43,18.0