version: 66.12
glider: 99
mission: 78
dive: 102
start: 1 3 114 9 10 52
data:
$ID,99
$MISSION,78
$DIVE,102
$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,-1250014.4
$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,7
$R_STBD_OVSHOOT,13
$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
$GPS1,030114,090519,4807.427,-12223.217,26,1.9,33,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,030114,090948,4807.435,-12223.208,15,1.9,25,18.0
$SPEED_LIMITS,0.060,0.169
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.141,0.094
$KALMAN_X,14099.5,156.8,82.5,-13864.6,-2.3
$KALMAN_Y,-4827.8,-90.5,-91.5,4487.8,172.4
$MHEAD_RNG_PITCHd_Wd,285.8,1433,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.01,-146.0,360,2047,1667,1734,0.0,0.0,0,87,0.00,0.17,-67.43,0.000,16390,0.000,0.000,358,1998,3733,3688,3779,0,0,0,0,0,0,28.83,24.18,24.19
$GC,91,-1.01,-146.0,360,2000,3645,3785,0.1,-0.2,7,102,5.75,2.78,0.00,0.000,2308,0.000,0.000,1492,3460,3719,3641,3798,0,0,0,0,0,0,24.17,24.18,28.83
$GC,226,-1.01,-146.0,1494,3456,3632,3787,15.4,-7.3,19,234,0.00,2.72,-0.10,0.000,17414,0.000,0.000,1492,1983,3700,3633,3768,0,0,0,0,0,0,28.83,24.18,24.19
$GC,541,-1.01,-146.0,1494,1993,3635,3791,35.5,-6.1,50,545,0.00,0.00,-0.05,0.000,16390,0.000,0.000,1492,1995,3719,3654,3784,0,0,0,0,0,0,28.83,28.83,24.16
$GC,861,-1.01,-146.0,1494,1982,3653,3806,55.4,-6.3,78,865,0.00,2.60,0.00,0.000,260,0.000,0.000,1491,3481,3715,3646,3785,0,0,0,0,0,0,28.83,24.18,28.83
$GC,912,-1.01,-146.0,1494,3472,3636,3791,58.1,-6.4,80,916,0.00,2.72,0.00,0.000,1030,0.000,0.000,1493,1987,3719,3645,3794,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1218,-1.01,-146.0,1495,1987,3657,3792,79.2,-6.7,96,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,1497,1990,3709,3631,3788,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1463,begin apogee
$GC,1470,-0.31,0.0,1495,1988,3658,3791,90.1,-1.5,108,1600,0.82,0.03,118.38,0.001,10246,0.000,0.000,1642,1983,3133,3072,3195,0,0,0,0,0,0,24.17,24.18,24.12
$STATE,1602,end apogee,CONTROL_FINISHED_OK
$STATE,1602,begin climb
$GC,1606,1.01,146.0,1646,1989,3062,3200,84.8,0.0,115,1741,1.67,0.00,123.15,0.001,10246,0.000,0.000,1975,1988,2534,2488,2580,0,0,0,0,0,0,24.17,28.83,24.12
$GC,2038,1.01,146.0,1974,1982,2484,2614,52.1,7.8,137,2039,0.30,0.00,0.00,0.000,4102,0.000,0.000,1924,1986,2536,2488,2584,0,0,0,0,0,0,24.17,28.83,28.83
$GC,2339,1.01,146.0,1938,1988,2481,2600,29.9,7.6,165,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,1987,2529,2482,2577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2642,1.01,146.0,1927,1988,2470,2587,6.8,8.2,195,2646,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,1988,2534,2487,2581,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2706,end climb,SURFACE_DEPTH_REACHED
$STATE,2706,begin surface coast
$STATE,2736,end surface coast,CONTROL_FINISHED_OK
$STATE,2736,begin surface
$SM_CCo,2761,130.27,0.000,0,0,1702,350.29
$SM_GC,-0.00,8.10,0.00,130.27,0.000,0.000,0.000,348,1984,1702,-6.31,-0.08,350.29,0,0,0,0,0,0,24.18,28.83,24.14
$RAFOS_CLK,32
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.043442,0.043442
$HUMID,66.85
$INTERNAL_PRESSURE,15.9772
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.9,0.0
$SC_FREEKB,3940352
$24V_AH,24.0,187.145
$10V_AH,10.6,70.990
$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,16.650,11.300,241.525,130.275,0.000,0.000,0.000,79.900,0.000,0.000,26.621,0.000,1630.768,394.966,808.047,333.414,33.223,731.632,0.000,626.142,0.000,23.897,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,22.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.709,0.000,0.000,0.000
$MEM,306868
$DATA_FILE_SIZE,6841,205
$CAP_FILE_SIZE,132643,0
$CFSIZE,260165632,239378432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,030114,100024,4807.725,-12223.543,34,1.1,46,18.0