version: 66.12
glider: 99
mission: 78
dive: 67
start: 1 2 114 1 7 54
data:
$ID,99
$MISSION,78
$DIVE,67
$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,50
$T_MISSION,65
$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,-1249970.6
$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,3
$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
$GPS1,020114,010231,4805.941,-12221.648,16,1.7,25,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,020114,010650,4805.916,-12221.635,14,1.8,23,18.0
$SPEED_LIMITS,0.060,0.169
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.128,0.111
$KALMAN_X,10865.9,-67.0,15.4,-8394.7,44.6
$KALMAN_Y,-6991.3,35.8,56.7,3565.4,114.5
$MHEAD_RNG_PITCHd_Wd,293.0,4842,-13.2,-6.000,-19.50,3174
$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,-1.01,-146.0,316,1994,1668,1733,0.0,0.0,0,90,0.00,0.10,-67.20,0.000,16390,0.000,0.000,315,1992,3713,3630,3796,0,0,0,0,0,0,28.83,24.18,24.19
$GC,94,-1.01,-146.0,316,1994,3641,3797,0.3,-0.7,7,106,6.03,2.75,0.00,0.000,2308,0.000,0.000,1517,3472,3720,3646,3795,0,0,0,0,0,0,24.17,24.18,28.83
$GC,387,-1.01,-146.0,1511,3468,3626,3784,26.4,-7.1,35,392,0.00,2.67,0.00,0.000,1030,0.000,0.000,1517,1942,3721,3656,3786,0,0,0,0,0,0,28.83,24.18,28.83
$GC,697,-1.01,-146.0,1519,1946,3649,3788,48.6,-6.8,66,701,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,1946,3715,3647,3783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1007,-1.01,-146.0,1515,1947,3644,3793,69.8,-6.5,83,1011,0.00,2.62,0.00,0.000,260,0.000,0.000,1514,3391,3718,3642,3794,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1304,-1.01,-146.0,1517,3399,3624,3780,89.2,-6.0,97,1309,0.00,2.70,0.00,0.000,1030,0.000,0.000,1516,1881,3732,3661,3803,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,1344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1344,begin apogee
$GC,1354,-0.31,0.0,1516,2054,3653,3779,90.0,-4.1,99,1479,0.75,0.12,117.80,0.001,10246,0.000,0.000,1655,1962,3142,3063,3222,0,0,0,0,0,0,24.18,24.17,24.12
$STATE,1481,end apogee,CONTROL_FINISHED_OK
$STATE,1481,begin climb
$GC,1484,1.01,146.0,1654,1965,3071,3191,89.4,0.0,105,1611,1.55,0.00,122.43,0.001,10758,0.000,0.000,1933,1969,2538,2489,2588,0,0,0,0,0,0,24.17,28.83,24.12
$GC,1900,1.01,146.0,1936,1972,2483,2595,58.9,7.4,126,1906,0.00,2.67,0.28,0.001,8452,0.000,0.000,1936,3450,2536,2488,2585,0,0,0,0,0,0,28.83,24.18,24.14
$GC,1969,1.01,146.0,1936,3478,2515,2584,53.8,8.2,129,1973,0.00,2.75,0.00,0.000,1030,0.000,0.000,1933,1996,2534,2489,2579,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2287,1.01,146.0,1939,1990,2488,2583,31.9,6.6,157,2290,0.00,0.00,0.35,0.000,8198,0.000,0.000,1938,1990,2539,2491,2588,0,0,0,0,0,0,28.83,28.83,24.14
$GC,2596,1.02,153.6,1934,2000,2487,2611,12.0,5.8,188,2628,0.00,2.62,22.85,0.000,8452,0.000,0.000,1936,3438,2504,2457,2552,0,0,0,0,1,0,28.83,24.18,24.13
$GC,2692,1.02,153.6,1940,3413,2458,2561,6.0,6.7,197,2697,0.00,2.70,0.00,0.000,1030,0.000,0.000,1936,1982,2503,2456,2550,0,0,0,0,0,0,28.83,24.18,28.83
$STATE,2779,end climb,SURFACE_DEPTH_REACHED
$STATE,2779,begin surface coast
$STATE,2829,end surface coast,CONTROL_FINISHED_OK
$STATE,2829,begin surface
$SM_CCo,2852,125.62,0.000,0,0,1700,350.04
$SM_GC,-0.00,8.18,0.12,125.62,0.000,0.000,0.000,328,2068,1700,-6.31,0.34,350.04,0,0,0,0,0,0,24.17,24.17,24.14
$RAFOS_CLK,29
$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,67.12
$INTERNAL_PRESSURE,16.1139
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.9,0.0
$SC_FREEKB,3945024
$24V_AH,24.0,186.255
$10V_AH,10.5,70.045
$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,16.500,22.375,263.700,125.625,0.000,0.000,0.000,76.600,0.000,0.000,24.516,0.000,1606.885,436.083,865.351,336.444,33.227,799.601,0.000,671.089,0.000,23.788,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,1491.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.883,0.000,0.000,0.000
$MEM,316944
$DATA_FILE_SIZE,6798,211
$CAP_FILE_SIZE,136849,0
$CFSIZE,260165632,241000448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$GPS,020114,015833,4806.154,-12221.883,20,1.9,27,18.0