version: 66.12
glider: 99
mission: 78
dive: 146
start: 1 5 114 4 15 55
data:
$ID,99
$MISSION,78
$DIVE,146
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,95
$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,63
$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,-1250069.4
$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,6
$R_STBD_OVSHOOT,0
$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
$GPS1,050114,041017,4805.217,-12221.323,35,1.7,44,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,050114,041451,4805.219,-12221.325,28,2.0,34,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.107,0.114
$KALMAN_X,17949.5,-126.1,-135.6,-14885.2,131.3
$KALMAN_Y,-2510.5,-96.6,200.7,-2217.2,-3.7
$MHEAD_RNG_PITCHd_Wd,298.8,6120,-10.6,-5.026,-17.76,3323
$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,-0.84,-146.0,359,1991,1866,1953,0.0,0.0,0,84,0.00,0.20,-60.97,0.000,16390,0.000,0.000,359,2020,3722,3650,3795,0,0,0,0,0,0,28.83,24.18,24.19
$GC,88,-0.84,-146.0,359,2029,3666,3785,0.0,-0.1,6,102,5.93,2.78,0.00,0.000,2820,0.000,0.000,1555,529,3713,3642,3785,0,0,0,0,0,0,24.18,24.18,28.83
$GC,130,-0.84,-146.0,1559,530,3641,3790,8.1,-18.2,10,136,0.00,2.72,-0.03,0.000,17414,0.000,0.000,1559,1994,3718,3651,3786,0,0,0,0,0,0,28.83,24.18,24.15
$GC,436,-0.84,-146.0,1558,2005,3650,3796,28.6,-5.5,41,440,0.00,2.70,0.00,0.000,260,0.000,0.000,1554,3463,3714,3637,3792,0,0,0,0,0,0,28.83,24.18,28.83
$GC,714,-0.84,-146.0,1555,3450,3638,3810,43.9,-5.3,68,720,0.00,2.83,0.00,0.000,1030,0.000,0.000,1552,1903,3715,3640,3791,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1033,-0.84,-146.0,1555,1902,3654,3807,60.4,-5.0,90,1037,0.00,2.83,-0.03,0.000,16644,0.000,0.000,1556,3415,3707,3648,3766,0,0,0,0,0,0,28.83,24.18,24.14
$GC,1318,-0.84,-146.0,1558,3476,3641,3797,74.1,-5.3,103,1322,0.00,2.88,0.00,0.000,1030,0.000,0.000,1552,1969,3718,3643,3793,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1632,-0.84,-146.0,1559,1970,3645,3802,90.5,-5.2,119,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,1553,1971,3724,3646,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1924,-0.84,-146.0,1558,1977,3621,3786,90.0,4.8,134,1928,0.00,2.72,0.00,0.000,260,0.000,0.000,1557,3478,3726,3660,3792,0,0,0,0,0,0,28.83,24.18,28.83
$GC,2207,-0.84,-146.0,1552,3479,3639,3793,71.8,6.7,148,2212,0.17,2.78,0.00,0.000,5126,0.000,0.000,1542,1960,3715,3638,3793,0,0,0,0,0,0,24.18,24.17,28.83
$STATE,2264,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2264,begin apogee
$GC,2272,-0.31,0.0,1542,2000,3657,3794,67.9,6.5,151,2397,0.65,0.03,119.60,0.001,10246,0.000,0.000,1657,2000,3145,3068,3223,0,0,0,0,0,0,24.18,24.18,24.13
$STATE,2402,end apogee,CONTROL_FINISHED_OK
$STATE,2402,begin climb
$GC,2406,0.84,146.0,1660,2004,3075,3197,59.7,0.0,157,2532,1.23,0.00,122.57,0.001,10246,0.000,0.000,1910,1998,2540,2490,2590,0,0,0,0,0,0,24.18,28.83,24.13
$GC,2835,0.84,146.0,1913,2003,2504,2587,31.6,5.8,193,2839,0.00,2.67,0.00,0.000,516,0.000,0.000,1910,552,2539,2489,2589,0,0,0,0,0,0,28.83,24.18,28.83
$GC,2982,0.84,146.0,1910,553,2492,2589,23.1,5.8,207,2988,0.00,2.65,0.57,0.000,9222,0.000,0.000,1913,2012,2538,2489,2588,0,0,0,0,0,0,28.83,24.18,24.15
$GC,3289,0.85,149.7,1912,2008,2485,2582,5.1,4.9,238,3298,0.00,0.00,7.90,0.000,8198,0.000,0.000,1917,2012,2526,2473,2580,0,0,0,0,0,0,28.83,28.83,24.15
$STATE,3379,end climb,SURFACE_DEPTH_REACHED
$STATE,3379,begin surface coast
$STATE,3435,end surface coast,CONTROL_FINISHED_OK
$STATE,3435,begin surface
$SM_CCo,3458,96.50,0.000,0,0,1902,300.00
$SM_GC,-0.00,8.00,0.17,96.50,0.000,0.000,0.000,331,1963,1902,-6.28,-0.90,300.00,0,0,0,0,0,0,24.18,24.17,24.14
$RAFOS_CLK,36
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.042693,0.042693
$HUMID,64.09
$INTERNAL_PRESSURE,16.153
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.8,0.0
$SC_FREEKB,3934272
$24V_AH,24.0,188.118
$10V_AH,10.5,72.227
$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,15.975,28.125,250.650,96.500,0.000,0.000,0.000,70.475,0.000,0.000,34.846,0.000,2062.408,390.745,1009.877,368.301,33.210,795.769,0.000,763.861,0.000,29.811,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,6.605,0.000,0.000,0.000
$MEM,306952
$DATA_FILE_SIZE,6781,253
$CAP_FILE_SIZE,151149,0
$CFSIZE,260165632,237268992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,050114,051624,4805.467,-12221.369,33,1.7,40,18.0