version: 66.12
glider: 99
mission: 78
dive: 100
start: 1 3 114 7 21 22
data:
$ID,99
$MISSION,78
$DIVE,100
$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,-1250011.9
$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,1
$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
$GPS1,030114,071532,4806.865,-12222.665,27,1.8,34,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,030114,072018,4806.854,-12222.683,36,1.9,43,18.0
$SPEED_LIMITS,0.060,0.169
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.125,0.115
$KALMAN_X,14025.0,167.1,49.8,-13115.6,90.8
$KALMAN_Y,-5218.2,-150.6,-18.9,3789.7,24.7
$MHEAD_RNG_PITCHd_Wd,294.6,2675,-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,-146.0,341,1998,1668,1735,0.0,0.0,0,89,0.00,0.00,-67.25,0.000,16390,0.000,0.000,341,2002,3720,3647,3793,0,0,0,0,0,0,28.83,28.83,24.18
$GC,93,-1.01,-146.0,341,2004,3650,3784,0.1,-0.2,7,106,5.97,2.67,0.00,0.000,2308,0.000,0.000,1524,3476,3720,3650,3791,0,0,0,0,0,0,24.18,24.18,28.83
$GC,196,-1.01,-146.0,1523,3454,3645,3783,13.0,-8.9,17,202,0.00,2.72,-0.05,0.000,17414,0.000,0.000,1518,1986,3723,3658,3788,0,0,0,0,0,0,28.83,24.18,24.18
$GC,507,-1.01,-146.0,1524,1985,3638,3779,36.2,-7.5,48,508,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,1976,3725,3645,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,808,-1.01,-146.0,1521,1985,3643,3782,57.1,-6.9,73,809,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,1990,3714,3637,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1111,-1.01,-146.0,1525,1983,3652,3789,77.7,-6.9,88,1112,0.00,0.00,-0.10,0.000,16390,0.000,0.000,1521,1985,3720,3646,3795,0,0,0,0,0,0,28.83,28.83,24.18
$STATE,1384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1384,begin apogee
$GC,1392,-0.31,0.0,1521,2030,3642,3781,90.2,-1.5,101,1517,0.75,0.20,119.15,0.001,10246,0.000,0.000,1656,1945,3143,3078,3209,0,0,0,0,0,0,24.18,24.18,24.12
$STATE,1518,end apogee,CONTROL_FINISHED_OK
$STATE,1518,begin climb
$GC,1522,1.01,146.0,1663,1948,3069,3194,85.0,0.0,108,1648,1.52,0.00,122.57,0.001,10246,0.000,0.000,1948,1944,2529,2483,2576,0,0,0,0,0,0,24.18,28.83,24.12
$GC,1951,1.01,146.0,1960,1945,2482,2584,50.1,8.1,130,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,1944,2529,2475,2584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2248,1.01,146.0,1945,1947,2487,2578,27.7,6.9,159,2249,0.00,0.00,0.05,0.000,8198,0.000,0.000,1943,1946,2541,2490,2592,0,0,0,0,0,0,28.83,28.83,24.13
$GC,2557,1.01,146.0,1949,1946,2495,2577,7.5,6.9,189,2558,0.00,0.00,0.10,0.000,8198,0.000,0.000,1940,1937,2536,2487,2586,0,0,0,0,0,0,28.83,28.83,24.13
$STATE,2645,end climb,SURFACE_DEPTH_REACHED
$STATE,2645,begin surface coast
$STATE,2675,end surface coast,CONTROL_FINISHED_OK
$STATE,2675,begin surface
$SM_CCo,2700,129.88,0.000,0,0,1702,350.04
$SM_GC,-0.01,8.25,0.35,129.88,0.000,0.000,0.000,346,2065,1702,-6.32,1.87,350.04,0,0,0,0,0,0,24.18,24.17,24.14
$RAFOS_CLK,22
$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,66.02
$INTERNAL_PRESSURE,15.9479
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.4,0.0
$SC_FREEKB,3940608
$24V_AH,24.0,187.097
$10V_AH,10.5,70.937
$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,16.500,6.350,241.875,129.875,0.000,0.000,0.000,79.200,0.000,0.000,45.109,0.000,1625.298,412.833,770.675,311.523,33.220,704.213,0.000,542.889,0.000,23.794,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,1527.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.074,0.000,0.000,0.000
$MEM,306944
$DATA_FILE_SIZE,6810,201
$CAP_FILE_SIZE,119741,0
$CFSIZE,260165632,239480832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,030114,080936,4807.119,-12222.968,24,1.8,31,18.0