version: 66.12
glider: 99
mission: 78
dive: 126
start: 1 4 114 7 5 30
data:
$ID,99
$MISSION,78
$DIVE,126
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$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,67
$T_MISSION,75
$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,-1250044.4
$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,2
$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
$GPS1,040114,065939,4806.810,-12222.591,30,1.7,40,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,040114,070426,4806.797,-12222.599,35,2.0,43,18.0
$SPEED_LIMITS,0.060,0.169
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.130,0.108
$KALMAN_X,15928.6,112.3,76.8,-14888.1,101.3
$KALMAN_Y,-3952.7,-65.7,-96.6,2412.2,64.6
$MHEAD_RNG_PITCHd_Wd,291.9,2823,-13.1,-5.970,-19.46,3180
$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,-1.00,-146.0,327,1988,1668,1730,0.0,0.0,0,91,0.00,0.22,-67.28,0.000,16390,0.000,0.000,327,2086,3708,3638,3778,0,0,0,0,0,0,28.83,24.18,24.19
$GC,95,-1.00,-146.0,328,2081,3643,3779,0.1,-0.2,7,103,5.90,0.00,0.00,0.000,2566,0.000,0.000,1496,2086,3720,3651,3789,0,0,0,0,0,0,24.18,28.83,28.83
$GC,399,-1.00,-146.0,1497,2088,3664,3799,29.0,-6.8,38,400,0.00,0.00,0.00,0.000,6,0.000,0.000,1494,2080,3697,3627,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,705,-1.00,-146.0,1494,2087,3631,3780,48.7,-6.2,68,706,0.00,0.00,-0.08,0.000,16390,0.000,0.000,1493,2091,3696,3627,3766,0,0,0,0,0,0,28.83,28.83,24.18
$GC,1009,-1.00,-146.0,1497,2082,3652,3804,67.9,-6.3,84,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,1495,2084,3706,3637,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1307,-1.00,-146.0,1495,2078,3643,3788,86.7,-6.4,99,1311,0.00,2.50,-0.08,0.000,16644,0.000,0.000,1495,3452,3715,3634,3797,0,0,0,0,0,0,28.83,24.18,24.18
$GC,1399,-1.00,-146.0,1498,3428,3632,3785,91.9,-6.3,103,1403,0.00,2.72,-0.22,0.000,17414,0.000,0.000,1491,1941,3717,3629,3805,0,0,0,0,0,0,28.83,24.18,24.19
$STATE,1528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1528,begin apogee
$GC,1536,-0.31,0.0,1495,2034,3644,3795,100.5,-6.2,109,1662,0.82,0.20,117.97,0.001,10246,0.000,0.000,1642,1892,3138,3081,3195,0,0,0,0,0,0,24.18,24.18,24.12
$STATE,1663,end apogee,CONTROL_FINISHED_OK
$STATE,1663,begin climb
$GC,1667,1.00,146.0,1642,1895,3093,3201,101.0,0.0,115,1794,1.62,0.00,123.85,0.001,10246,0.000,0.000,1953,1896,2545,2499,2592,0,0,0,0,0,0,24.18,28.83,24.13
$GC,2082,1.00,146.0,1952,1893,2483,2593,85.3,8.2,136,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1890,2539,2498,2581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2380,1.00,146.0,1958,1893,2493,2590,62.6,7.8,151,2382,0.00,0.00,0.20,0.000,8198,0.000,0.000,1951,1892,2536,2488,2585,0,0,0,0,0,0,28.83,28.83,24.14
$GC,2682,1.00,146.0,1948,1896,2491,2599,40.0,7.2,172,2683,0.17,0.00,0.00,0.000,4102,0.000,0.000,1920,1890,2536,2488,2584,0,0,0,0,0,0,24.17,28.83,28.83
$GC,2985,1.00,146.0,1921,1894,2488,2581,19.8,6.5,202,2989,0.00,0.00,0.50,0.001,8198,0.000,0.000,1920,1894,2539,2489,2589,0,0,0,0,0,0,28.83,28.83,24.14
$STATE,3268,end climb,SURFACE_DEPTH_REACHED
$STATE,3268,begin surface coast
$FINISH,0.5,0.000000
$STATE,3295,end surface coast,CONTROL_FINISHED_OK
$STATE,3295,begin surface
$SM_CCo,3316,130.35,0.000,0,0,1703,350.04
$SM_GC,-0.00,8.07,0.30,130.35,0.000,0.000,0.000,314,2063,1703,-6.36,0.17,350.04,0,0,0,0,0,0,24.17,24.17,24.14
$RAFOS_CLK,13
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.05243,0.05243
$HUMID,64.53
$INTERNAL_PRESSURE,16.1041
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,75.4,0.0
$SC_FREEKB,3937088
$24V_AH,24.0,187.739
$10V_AH,10.5,71.628
$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,16.600,6.225,242.525,130.350,0.000,0.000,0.000,80.325,0.000,0.000,44.081,0.000,2079.694,415.102,896.075,348.680,33.222,732.208,0.000,672.415,0.000,27.423,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,3293.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.156,0.000,0.000,0.000
$MEM,306840
$DATA_FILE_SIZE,6793,233
$CAP_FILE_SIZE,144897,0
$CFSIZE,260165632,238276608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,040114,080413,4807.067,-12222.898,37,1.9,42,18.0