version: 66.12
glider: 99
mission: 78
dive: 120
start: 1 4 114 1 28 32
data:
$ID,99
$MISSION,78
$DIVE,120
$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,-1250036.9
$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,38
$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
$GPS1,040114,012245,4805.622,-12221.479,19,1.9,27,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,040114,012728,4805.591,-12221.464,33,1.8,39,18.0
$SPEED_LIMITS,0.060,0.169
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.126,0.113
$KALMAN_X,15314.2,23.1,-51.9,-12653.9,39.1
$KALMAN_Y,-4223.5,-181.9,124.8,345.2,141.1
$MHEAD_RNG_PITCHd_Wd,294.1,5453,-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,-146.0,316,2009,1672,1737,0.0,0.0,0,87,0.00,0.00,-67.90,0.000,16390,0.000,0.000,317,2018,3717,3636,3799,0,0,0,0,0,0,28.83,28.83,24.19
$GC,94,-1.01,-146.0,315,2017,3635,3799,0.1,-0.2,7,104,6.05,2.78,0.00,0.000,2308,0.000,0.000,1510,3456,3704,3617,3792,0,0,0,0,0,0,24.18,24.18,28.83
$GC,190,-1.01,-146.0,1509,3462,3630,3800,13.9,-9.0,17,195,0.00,2.70,0.00,0.000,1030,0.000,0.000,1509,1953,3719,3651,3787,0,0,0,0,0,0,28.83,24.18,28.83
$GC,502,-1.01,-146.0,1510,1940,3657,3791,35.8,-6.9,48,505,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,1938,3708,3631,3786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,812,-1.01,-146.0,1511,1938,3657,3785,55.6,-6.2,75,816,0.00,2.65,-0.10,0.000,16644,0.000,0.000,1516,3512,3723,3644,3802,0,0,0,0,0,0,28.83,24.18,24.18
$GC,1102,-1.01,-146.0,1510,3500,3644,3784,73.6,-6.1,89,1106,0.00,2.72,0.00,0.000,1030,0.000,0.000,1508,1970,3714,3637,3792,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1418,-1.01,-146.0,1510,1973,3636,3794,90.0,-2.0,105,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,1510,1959,3722,3634,3810,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1439,begin apogee
$GC,1447,-0.31,0.0,1510,2016,3649,3785,90.2,-1.6,106,1570,0.82,0.00,118.88,0.001,10246,0.000,0.000,1688,2003,3140,3094,3187,0,0,0,0,0,0,24.18,28.83,24.12
$STATE,1576,end apogee,CONTROL_FINISHED_OK
$STATE,1576,begin climb
$GC,1579,1.01,146.0,1683,2002,3067,3198,86.5,0.0,112,1708,1.40,0.00,122.82,0.001,10246,0.000,0.000,1951,2006,2541,2487,2596,0,0,0,0,0,0,24.18,28.83,24.12
$GC,1995,1.01,146.0,1948,2009,2481,2588,53.5,7.7,133,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,2013,2538,2492,2584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2297,1.01,146.0,1947,2006,2487,2611,31.9,6.8,160,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2004,2542,2498,2587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2599,1.02,160.2,1944,2008,2487,2585,13.9,5.5,190,2634,0.00,0.00,28.00,0.000,8198,0.000,0.000,1951,2005,2481,2432,2531,0,0,0,0,1,0,28.83,28.83,24.13
$STATE,2802,end climb,SURFACE_DEPTH_REACHED
$STATE,2802,begin surface coast
$FINISH,-0.0,0.000000
$STATE,2829,end surface coast,CONTROL_FINISHED_OK
$STATE,2829,begin surface
$SM_CCo,2850,121.72,0.000,0,0,1701,350.04
$SM_GC,-0.00,8.23,0.00,121.72,0.000,0.000,0.000,320,1998,1701,-6.33,0.08,350.04,0,0,0,0,0,0,24.18,28.83,24.14
$RAFOS_CLK,14
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.061418,0.061418
$HUMID,65.16
$INTERNAL_PRESSURE,16.0651
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.1,0.0
$SC_FREEKB,3937856
$24V_AH,24.0,187.597
$10V_AH,10.7,71.464
$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,16.500,11.175,269.700,121.725,0.000,0.000,0.000,80.300,0.000,0.000,40.999,0.000,1619.556,369.322,922.263,351.558,33.225,765.441,0.000,677.191,0.000,23.815,0.000
$DEVICE_MAMPS,119.000,60.000,0.765,600.000,0.000,0.000,0.000,55.845,0.000,0.000,50.000,0.000,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1264.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.416,0.000,0.000,0.000
$MEM,306820
$DATA_FILE_SIZE,6821,213
$CAP_FILE_SIZE,144184,0
$CFSIZE,260165632,238555136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$GPS,040114,021909,4805.840,-12221.698,25,1.9,31,18.0