version: 66.12
glider: 99
mission: 78
dive: 86
start: 1 2 114 18 28 13
data:
$ID,99
$MISSION,78
$DIVE,86
$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,-1249994.4
$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,1
$R_STBD_OVSHOOT,0
$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
$GPS1,020114,182243,4806.132,-12222.029,36,2.0,42,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,020114,182709,4806.108,-12222.024,18,1.9,24,18.0
$SPEED_LIMITS,0.060,0.169
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.058,-0.017
$KALMAN_X,12523.1,-71.4,-120.3,-10394.7,195.5
$KALMAN_Y,-5510.6,199.8,103.0,2231.0,-154.3
$MHEAD_RNG_PITCHd_Wd,236.0,202,-42.5,-6.000,-45.00,446
$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,-2.68,-17.6,351,1946,1669,1737,0.0,0.0,0,69,0.00,0.20,-50.12,0.000,16390,0.000,0.000,351,2040,3191,3129,3253,0,0,0,0,0,0,28.83,24.18,24.19
$GC,76,-2.71,-43.8,351,2034,3126,3250,-0.0,0.0,5,89,4.00,2.62,-3.33,0.000,18692,0.000,0.000,1157,3474,3302,3245,3359,0,0,0,0,0,0,24.18,24.18,24.19
$GC,362,-2.71,-43.8,1156,3488,3232,3345,22.0,-6.4,34,367,0.25,2.85,-0.32,0.000,21510,0.000,0.000,1123,1962,3298,3244,3353,0,0,0,0,0,0,24.17,24.17,24.19
$GC,674,-2.71,-43.8,1123,1972,3245,3380,41.6,-6.5,66,675,0.00,0.00,0.00,0.000,6,0.000,0.000,1124,1965,3306,3240,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,984,-2.71,-43.8,1124,1965,3219,3367,60.7,-6.6,89,989,0.00,2.67,0.00,0.000,516,0.000,0.000,1124,467,3304,3231,3378,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1265,-2.71,-45.8,1126,467,3224,3351,77.1,-5.5,103,1270,0.00,2.92,-0.32,0.000,17414,0.000,0.000,1124,2047,3301,3236,3367,0,0,0,0,0,0,28.83,24.18,24.19
$GC,1586,-2.79,-109.4,1123,2045,3246,3376,81.8,8.6,119,1599,0.00,2.83,-8.52,0.000,16900,0.000,0.000,1124,555,3560,3483,3637,0,0,0,0,0,0,28.83,24.18,24.19
$GC,1894,-2.83,-146.0,1123,557,3507,3628,47.1,10.3,133,1905,0.00,2.72,-5.38,0.000,17414,0.000,0.000,1122,2053,3723,3651,3796,0,0,0,0,0,0,28.83,24.18,24.18
$STATE,1953,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1953,begin apogee
$GC,1961,-0.31,0.0,1122,1894,3656,3790,40.4,10.2,139,2087,2.72,0.30,119.35,0.001,10246,0.000,0.000,1663,2065,3148,3087,3210,0,0,0,0,0,0,24.18,24.17,24.12
$STATE,2092,end apogee,CONTROL_FINISHED_OK
$STATE,2092,begin climb
$GC,2095,2.83,146.0,1676,2073,3071,3196,27.3,0.0,152,2228,3.45,2.58,121.25,0.001,10500,0.000,0.000,2345,3501,2541,2483,2599,0,0,0,0,0,0,24.18,24.17,24.13
$STATE,2415,end climb,SURFACE_DEPTH_REACHED
$STATE,2415,begin surface coast
$STATE,2459,end surface coast,CONTROL_FINISHED_OK
$STATE,2459,begin surface
$SM_CCo,2466,303.45,0.000,0,0,589,622.57
$SM_GC,-0.01,10.12,2.88,0.00,0.000,0.000,0.000,349,1954,588,-6.31,-1.05,622.57,0,0,0,0,0,0,24.18,24.17,28.83
$RAFOS_CLK,41
$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,65.71
$INTERNAL_PRESSURE,15.9869
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.6,0.0
$SC_FREEKB,3942528
$24V_AH,24.0,186.754
$10V_AH,10.5,70.560
$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,20.550,23.100,240.600,303.450,0.000,0.000,0.000,78.925,0.000,0.000,26.418,0.000,1414.219,537.462,860.476,339.305,33.218,951.520,0.000,676.885,0.000,20.225,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2101.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.198,0.000,0.000,0.000
$MEM,306976
$DATA_FILE_SIZE,6809,188
$CAP_FILE_SIZE,140185,0
$CFSIZE,260165632,240103424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,020114,191725,4805.961,-12222.075,31,2.0,38,18.0