version: 66.12
glider: 99
mission: 78
dive: 111
start: 1 3 114 17 20 21
data:
$ID,99
$MISSION,78
$DIVE,111
$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,-1250025.6
$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,5
$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
$GPS1,030114,171446,4806.716,-12222.653,31,1.9,38,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,030114,171917,4806.671,-12222.662,19,1.2,25,18.0
$SPEED_LIMITS,0.060,0.169
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.081,-0.149
$KALMAN_X,14816.0,-78.9,-40.7,-13548.8,107.4
$KALMAN_Y,-4701.5,231.5,-13.0,2549.3,-83.0
$MHEAD_RNG_PITCHd_Wd,133.5,1488,-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,-146.0,352,2091,1666,1737,0.0,0.0,0,91,0.00,0.28,-67.35,0.000,16390,0.000,0.000,352,1934,3712,3651,3774,0,0,0,0,0,0,28.83,24.18,24.19
$GC,95,-1.01,-146.0,352,1936,3649,3786,0.1,-0.3,7,107,5.88,2.67,0.00,0.000,2564,0.000,0.000,1499,545,3716,3646,3787,0,0,0,0,0,0,24.18,24.18,28.83
$GC,117,-1.01,-146.0,1502,545,3634,3788,2.2,-4.5,9,122,0.00,2.80,0.00,0.000,1030,0.000,0.000,1500,2041,3727,3655,3800,0,0,0,0,0,0,28.83,24.18,28.83
$GC,424,-1.01,-146.0,1498,2044,3659,3784,28.6,-6.3,40,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1495,2049,3729,3639,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,728,-1.01,-146.0,1500,2036,3638,3793,49.6,-6.7,70,729,0.00,0.00,0.00,0.000,6,0.000,0.000,1499,2041,3718,3638,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1042,-1.01,-146.0,1500,2042,3647,3793,69.2,-6.4,86,1043,0.00,0.00,-0.08,0.000,16390,0.000,0.000,1499,2041,3726,3662,3790,0,0,0,0,0,0,28.83,28.83,24.18
$GC,1339,-1.01,-146.0,1499,2041,3660,3801,88.5,-6.2,101,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,1499,2042,3724,3660,3788,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1458,begin apogee
$GC,1465,-0.31,0.0,1499,2002,3650,3795,90.0,-1.1,107,1592,0.90,0.15,119.32,0.001,10246,0.000,0.000,1655,1931,3133,3073,3193,0,0,0,0,0,0,24.18,24.18,24.13
$STATE,1594,end apogee,CONTROL_FINISHED_OK
$STATE,1594,begin climb
$GC,1597,1.01,146.0,1657,1925,3073,3204,84.6,0.0,113,1723,1.48,0.00,122.10,0.001,10246,0.000,0.000,1930,1930,2541,2493,2590,0,0,0,0,0,0,24.18,28.83,24.12
$GC,2022,1.01,146.0,1931,1929,2486,2604,52.5,7.2,135,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,1927,2540,2485,2595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2319,1.01,146.0,1934,1930,2487,2592,31.8,7.1,163,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,1929,2542,2492,2593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2624,1.01,146.0,1956,1938,2503,2585,10.9,6.7,193,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,1931,2539,2486,2593,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2761,end climb,SURFACE_DEPTH_REACHED
$STATE,2762,begin surface coast
$STATE,2792,end surface coast,CONTROL_FINISHED_OK
$STATE,2792,begin surface
$SM_CCo,2814,130.85,0.000,0,0,1698,350.04
$SM_GC,-0.00,8.10,0.25,130.85,0.000,0.000,0.000,347,2018,1698,-6.32,0.71,350.04,0,0,0,0,0,0,24.18,24.17,24.14
$RAFOS_CLK,23
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.060669,0.060669
$HUMID,65.19
$INTERNAL_PRESSURE,16.0358
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.4,0.0
$SC_FREEKB,3939072
$24V_AH,24.0,187.365
$10V_AH,10.5,71.226
$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,16.350,6.575,241.425,130.850,0.000,0.000,0.000,81.075,0.000,0.000,26.675,0.000,1716.384,418.921,770.554,315.935,33.219,708.008,0.000,546.651,0.000,23.896,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,1604.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.930,0.000,0.000,0.000
$MEM,306844
$DATA_FILE_SIZE,6820,210
$CAP_FILE_SIZE,123639,0
$CFSIZE,260165632,238981120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,030114,181024,4806.388,-12222.270,13,1.4,24,18.0