version: 66.12
glider: 99
mission: 78
dive: 83
start: 1 2 114 15 38 2
data:
$ID,99
$MISSION,78
$DIVE,83
$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,-1249990.6
$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,2
$R_STBD_OVSHOOT,3
$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
$GPS1,020114,153242,4807.027,-12222.875,8,1.8,13,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,020114,153658,4807.007,-12222.871,9,1.2,16,18.0
$SPEED_LIMITS,0.060,0.169
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.085,-0.146
$KALMAN_X,11619.8,89.0,6.0,-10826.4,-155.6
$KALMAN_Y,-5023.8,32.4,-15.6,3689.8,265.6
$MHEAD_RNG_PITCHd_Wd,131.7,2154,-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,13,begin dive
$GC,17,-1.01,-146.0,358,2002,1665,1733,0.0,0.0,0,85,0.00,0.00,-67.15,0.000,16390,0.000,0.000,358,2001,3697,3636,3758,0,0,0,0,0,0,28.83,28.83,24.18
$GC,89,-1.01,-146.0,358,1995,3638,3784,0.2,-0.5,7,100,5.80,2.70,-0.03,0.000,18948,0.000,0.000,1519,487,3712,3633,3792,0,0,0,0,0,0,24.18,24.17,24.14
$GC,399,-1.01,-146.0,1524,488,3628,3792,25.8,-6.2,35,404,0.00,2.88,-0.22,0.000,17414,0.000,0.000,1523,2037,3728,3675,3781,0,0,0,0,0,0,28.83,24.17,24.19
$GC,711,-1.01,-146.0,1522,2035,3633,3792,43.9,-5.9,66,715,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,2038,3713,3634,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1021,-1.01,-146.0,1523,2030,3634,3790,63.2,-6.2,87,1022,0.00,0.00,-0.15,0.000,16390,0.000,0.000,1521,2039,3726,3653,3799,0,0,0,0,0,0,28.83,28.83,24.18
$GC,1319,-1.01,-146.0,1523,2044,3658,3793,83.1,-6.7,102,1320,0.22,0.00,-0.03,0.000,20486,0.000,0.000,1482,2054,3716,3644,3788,0,0,0,0,0,0,24.18,28.83,24.15
$STATE,1479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1479,begin apogee
$GC,1486,-0.31,0.0,1485,1992,3640,3795,90.3,-2.4,110,1610,0.90,0.00,119.43,0.001,10246,0.000,0.000,1676,1995,3144,3074,3214,0,0,0,0,0,0,24.18,28.83,24.12
$STATE,1615,end apogee,CONTROL_FINISHED_OK
$STATE,1615,begin climb
$GC,1619,1.01,146.0,1673,1998,3081,3206,88.2,0.0,116,1746,1.40,0.00,123.32,0.001,10246,0.000,0.000,1934,1996,2536,2485,2587,0,0,0,0,0,0,24.17,28.83,24.13
$GC,2039,1.01,146.0,1935,2004,2475,2588,57.9,7.0,138,2042,0.00,2.60,0.00,0.000,260,0.000,0.000,1943,3440,2536,2488,2585,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2324,1.01,146.0,1935,3438,2488,2589,38.4,7.3,159,2330,0.00,2.72,0.00,0.000,1030,0.000,0.000,1928,1992,2534,2490,2579,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2631,1.01,146.0,1935,1995,2483,2579,17.1,6.7,190,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,1997,2535,2485,2586,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2878,end climb,SURFACE_DEPTH_REACHED
$STATE,2878,begin surface coast
$STATE,2907,end surface coast,CONTROL_FINISHED_OK
$STATE,2908,begin surface
$SM_CCo,2932,130.50,0.000,0,0,1701,350.78
$SM_GC,-0.01,8.15,0.00,130.50,0.000,0.000,0.000,332,1994,1701,-6.31,-0.23,350.78,0,0,0,0,0,0,24.18,28.83,24.14
$RAFOS_CLK,35
$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,65.55
$INTERNAL_PRESSURE,16.0065
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.7,0.0
$SC_FREEKB,3942912
$24V_AH,24.0,186.655
$10V_AH,10.6,70.476
$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,16.475,11.300,242.750,130.500,0.000,0.000,0.000,78.275,0.000,0.000,18.342,0.000,1726.430,391.341,862.653,345.405,33.216,746.529,0.000,672.658,0.000,26.959,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,6.504,0.000,0.000,0.000
$MEM,307024
$DATA_FILE_SIZE,6807,218
$CAP_FILE_SIZE,140728,0
$CFSIZE,260165632,240242688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1487.04,0x2361c2,2,24
$SOUNDSPEED,1465.0
$GPS,020114,163011,4806.805,-12222.466,24,1.6,32,18.0