version: 66.12
glider: 99
mission: 78
dive: 70
start: 1 2 114 3 58 49
data:
$ID,99
$MISSION,78
$DIVE,70
$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,-1249974.4
$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,12
$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
$GPS1,020114,035318,4806.571,-12222.340,15,1.8,21,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,020114,035749,4806.552,-12222.351,34,1.9,43,18.0
$SPEED_LIMITS,0.060,0.169
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.118,0.121
$KALMAN_X,11170.7,-32.6,-68.8,-9533.9,85.9
$KALMAN_Y,-6871.2,22.2,118.3,4575.0,-9.1
$MHEAD_RNG_PITCHd_Wd,297.6,3369,-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,-146.0,322,1949,1669,1733,0.0,0.0,0,86,0.00,0.17,-67.93,0.000,16390,0.000,0.000,323,2023,3712,3638,3786,0,0,0,0,0,0,28.83,24.18,24.19
$GC,90,-1.01,-146.0,322,2011,3629,3777,0.1,-0.2,7,104,6.00,2.60,-0.08,0.000,18692,0.000,0.000,1501,3410,3712,3643,3782,0,0,0,0,0,0,24.18,24.18,24.18
$GC,135,-1.01,-146.0,1503,3409,3647,3777,8.0,-20.3,12,144,0.00,2.70,-0.35,0.000,17414,0.000,0.000,1497,1959,3719,3639,3800,0,0,0,0,0,0,28.83,24.18,24.19
$GC,447,-1.01,-146.0,1502,1957,3623,3797,30.7,-6.9,43,448,0.00,0.00,-0.15,0.000,16390,0.000,0.000,1500,1961,3706,3631,3781,0,0,0,0,0,0,28.83,28.83,24.18
$GC,760,-1.01,-146.0,1497,1959,3634,3782,51.8,-6.6,73,760,0.00,0.00,0.00,0.000,6,0.000,0.000,1495,1968,3710,3635,3786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1055,-1.01,-146.0,1497,1958,3636,3777,71.6,-6.5,88,1060,0.00,2.65,-0.35,0.000,16644,0.000,0.000,1495,3447,3722,3658,3787,0,0,0,0,0,0,28.83,24.18,24.19
$GC,1339,-1.01,-146.0,1497,3443,3639,3786,88.8,-5.6,102,1342,0.00,2.72,0.00,0.000,1030,0.000,0.000,1512,1928,3722,3647,3798,0,0,0,0,0,0,28.83,24.18,28.83
$STATE,1396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1396,begin apogee
$GC,1404,-0.31,0.0,1498,2046,3650,3792,90.1,-2.2,105,1528,0.88,0.17,119.20,0.001,10246,0.000,0.000,1649,1968,3135,3073,3197,0,0,0,0,0,0,24.17,24.17,24.12
$STATE,1534,end apogee,CONTROL_FINISHED_OK
$STATE,1534,begin climb
$GC,1537,1.01,146.0,1654,1979,3072,3191,87.4,0.0,111,1667,1.52,0.00,122.65,0.001,10758,0.000,0.000,1970,1978,2533,2484,2582,0,0,0,0,0,0,24.18,28.83,24.12
$GC,1970,1.01,146.0,1963,1968,2494,2578,55.6,7.3,133,1971,0.20,0.00,0.00,0.000,4102,0.000,0.000,1948,1968,2524,2464,2584,0,0,0,0,0,0,24.17,28.83,28.83
$GC,2273,1.01,146.0,1944,1971,2492,2578,35.8,6.5,158,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,1969,2530,2486,2574,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2581,1.01,146.0,1948,1971,2475,2588,15.6,6.6,189,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,1967,2548,2491,2606,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2805,end climb,SURFACE_DEPTH_REACHED
$STATE,2805,begin surface coast
$FINISH,0.7,0.000000
$STATE,2835,end surface coast,CONTROL_FINISHED_OK
$STATE,2835,begin surface
$SM_CCo,2859,130.15,0.000,0,0,1705,350.04
$SM_GC,-0.01,8.20,0.15,130.15,0.000,0.000,0.000,353,2021,1705,-6.29,0.37,350.04,0,0,0,0,0,0,24.17,24.17,24.14
$RAFOS_CLK,14
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.05992,0.05992
$HUMID,66.46
$INTERNAL_PRESSURE,16.0846
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.0,0.0
$SC_FREEKB,3944640
$24V_AH,24.0,186.320
$10V_AH,10.5,70.128
$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,16.800,11.700,241.850,130.150,0.000,0.000,0.000,66.675,0.000,0.000,44.266,0.000,1637.661,359.087,923.622,341.968,33.222,735.227,0.000,688.453,0.000,23.789,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,1314.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.415,0.000,0.000,0.000
$MEM,314780
$DATA_FILE_SIZE,6786,214
$CAP_FILE_SIZE,144278,0
$CFSIZE,260165632,240848896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,020114,044947,4806.781,-12222.535,30,1.7,35,18.0