version: 66.12
glider: 99
mission: 78
dive: 127
start: 1 4 114 8 9 45
data:
$ID,99
$MISSION,78
$DIVE,127
$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,0.0043390002
$HD_B,0.013382
$HD_C,5.8987e-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,300
$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,-1250045.6
$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,2
$R_STBD_OVSHOOT,11
$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
$GPS1,040114,080413,4807.067,-12222.898,37,1.9,42,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,040114,080841,4807.070,-12222.912,14,1.7,22,18.0
$SPEED_LIMITS,0.060,0.174
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.129,0.117
$KALMAN_X,15914.3,133.2,118.3,-15323.5,21.1
$KALMAN_Y,-3796.5,-30.9,-147.3,2777.4,136.0
$MHEAD_RNG_PITCHd_Wd,294.1,2186,-13.2,-5.970,-18.92,3252
$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,-146.0,315,1960,1669,1732,0.0,0.0,0,88,0.00,0.17,-67.28,0.000,16390,0.000,0.000,314,2089,3699,3625,3774,0,0,0,0,0,0,28.83,24.18,24.19
$GC,92,-1.01,-146.0,314,2095,3644,3789,0.1,-0.1,7,106,6.05,2.90,0.00,0.000,2564,0.000,0.000,1495,577,3717,3646,3788,0,0,0,0,0,0,24.18,24.18,28.83
$GC,194,-1.01,-146.0,1494,578,3631,3785,13.3,-8.8,17,202,0.00,2.72,-0.45,0.000,17414,0.000,0.000,1496,2035,3728,3647,3809,0,0,0,0,0,0,28.83,24.18,24.19
$GC,510,-1.01,-146.0,1495,2040,3663,3783,35.7,-6.7,48,510,0.00,0.00,0.00,0.000,6,0.000,0.000,1500,2036,3710,3620,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,821,-1.01,-146.0,1492,2032,3646,3786,55.1,-6.2,75,822,0.00,0.00,0.00,0.000,6,0.000,0.000,1495,2031,3713,3637,3789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1124,-1.01,-146.0,1494,2026,3659,3799,73.6,-6.1,90,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,1495,2038,3721,3640,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1422,-1.01,-146.0,1489,2035,3649,3788,91.8,-5.9,105,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,1495,2037,3731,3667,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1723,-1.01,-146.0,1496,2044,3643,3789,99.9,-0.0,120,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,1495,2031,3716,3636,3797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2026,-1.01,-146.0,1493,2044,3643,3789,90.3,7.8,135,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,1492,2027,3712,3636,3789,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2258,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2258,begin apogee
$GC,2266,-0.31,0.0,1494,1946,3658,3790,70.7,7.8,147,2395,0.82,0.17,120.62,0.001,10246,0.000,0.000,1668,2019,3134,3072,3197,0,0,0,0,0,0,24.18,24.17,24.13
$STATE,2398,end apogee,CONTROL_FINISHED_OK
$STATE,2398,begin climb
$GC,2401,1.01,146.0,1664,2025,3086,3203,61.1,0.0,153,2525,1.48,0.00,120.35,0.001,10246,0.000,0.000,1955,2033,2547,2497,2598,0,0,0,0,0,0,24.18,28.83,24.13
$GC,2825,1.01,146.0,1945,2036,2501,2578,26.4,7.4,190,2831,0.00,0.00,4.43,0.000,8198,0.000,0.000,1951,2032,2530,2484,2577,0,0,0,0,0,0,28.83,28.83,24.12
$GC,3141,1.01,151.7,1949,2026,2489,2585,5.4,5.8,221,3160,0.00,0.00,13.57,0.000,8198,0.000,0.000,1958,2034,2509,2457,2562,0,0,0,0,0,0,28.83,28.83,24.14
$STATE,3208,end climb,SURFACE_DEPTH_REACHED
$STATE,3208,begin surface coast
$FINISH,0.0,-1.155142
$STATE,3251,end surface coast,CONTROL_FINISHED_OK
$STATE,3251,begin surface
$SM_CCo,3272,94.07,0.000,0,0,1904,301.23
$SM_GC,-0.00,8.23,0.20,94.07,0.000,0.000,0.000,349,1938,1904,-6.31,-0.03,301.23,0,0,0,0,0,0,24.18,24.17,24.14
$RAFOS_CLK,18
$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,64.76
$INTERNAL_PRESSURE,16.1139
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,76.0,0.0
$SC_FREEKB,3936896
$24V_AH,24.0,187.756
$10V_AH,10.5,71.657
$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,16.575,6.625,258.975,94.075,0.000,0.000,0.000,80.475,0.000,0.000,23.550,0.000,2091.370,375.173,833.576,336.667,33.227,711.339,0.000,621.278,0.000,29.842,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,868.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.614,0.000,0.000,0.000
$MEM,306884
$DATA_FILE_SIZE,6791,232
$CAP_FILE_SIZE,132771,0
$CFSIZE,260165632,238239744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,040114,090646,4807.369,-12223.230,18,2.0,22,18.0