version: 66.12
glider: 99
mission: 78
dive: 148
start: 1 5 114 6 28 48
data:
$ID,99
$MISSION,78
$DIVE,148
$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,-1250071.9
$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,2
$R_STBD_OVSHOOT,43
$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
$GPS1,050114,062259,4805.638,-12221.626,28,1.8,35,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,050114,062744,4805.652,-12221.635,34,1.5,42,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.134,0.081
$KALMAN_X,18413.1,-206.4,8.2,-15794.1,292.7
$KALMAN_Y,-2308.4,12.8,-55.2,-1471.3,15.1
$MHEAD_RNG_PITCHd_Wd,283.0,5240,-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,-146.0,336,2038,1869,1955,0.0,0.0,0,80,0.00,0.15,-61.12,0.000,16390,0.000,0.000,337,1993,3714,3634,3795,0,0,0,0,0,0,28.83,24.17,24.19
$GC,84,-0.84,-146.0,337,1986,3641,3797,-0.0,-0.0,6,97,6.25,2.65,0.00,0.000,2564,0.000,0.000,1574,572,3707,3633,3782,0,0,0,0,0,0,24.18,24.18,28.83
$GC,378,-0.84,-146.0,1578,572,3653,3792,23.0,-6.2,35,384,0.28,2.67,-0.17,0.000,21510,0.000,0.000,1533,2015,3719,3651,3787,0,0,0,0,0,0,24.18,24.18,24.19
$GC,685,-0.84,-146.0,1535,2017,3661,3810,39.9,-5.6,66,691,0.00,2.65,0.00,0.000,516,0.000,0.000,1530,572,3723,3661,3785,0,0,0,0,0,0,28.83,24.18,28.83
$GC,757,-0.84,-146.0,1534,573,3658,3799,43.9,-5.4,73,764,0.00,2.70,0.00,0.000,1030,0.000,0.000,1534,2034,3715,3644,3787,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1067,-0.84,-146.0,1532,2022,3637,3798,58.6,-4.8,95,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2032,3724,3665,3784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1368,-0.84,-146.0,1533,2026,3648,3794,73.4,-4.8,110,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2033,3720,3652,3789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1668,-0.84,-146.0,1531,2031,3646,3799,88.3,-5.0,125,1672,0.00,2.58,0.00,0.000,260,0.000,0.000,1532,3486,3714,3644,3785,0,0,0,0,0,0,28.83,24.18,28.83
$STATE,1867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1867,begin apogee
$GC,1878,-0.31,0.0,1532,1965,3667,3800,95.0,-1.6,134,2007,0.65,0.15,119.80,0.001,10246,0.000,0.000,1666,2011,3133,3068,3199,0,0,0,0,0,0,24.18,24.17,24.12
$STATE,2008,end apogee,CONTROL_FINISHED_OK
$STATE,2008,begin climb
$GC,2012,0.84,146.0,1667,2038,3074,3203,90.1,0.0,141,2138,1.35,0.00,122.88,0.001,10246,0.000,0.000,1922,2012,2536,2485,2588,0,0,0,0,0,0,24.18,28.83,24.12
$GC,2432,0.84,146.0,1923,2011,2486,2596,63.4,6.5,162,2436,0.15,2.78,0.00,0.000,4612,0.000,0.000,1906,530,2541,2488,2594,0,0,0,0,0,0,24.17,24.17,28.83
$GC,2734,0.84,146.0,1916,531,2488,2585,45.5,6.0,179,2738,0.00,2.75,0.00,0.000,1030,0.000,0.000,1906,2021,2535,2492,2578,0,0,0,0,0,0,28.83,24.18,28.83
$GC,3034,0.84,146.0,1906,2024,2487,2598,25.8,6.3,210,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,2025,2539,2489,2590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3338,0.84,146.0,1902,2025,2481,2584,8.1,5.7,240,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,2024,2528,2473,2583,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3455,end climb,SURFACE_DEPTH_REACHED
$STATE,3455,begin surface coast
$STATE,3492,end surface coast,CONTROL_FINISHED_OK
$STATE,3492,begin surface
$SM_CCo,3517,98.38,0.000,0,0,1902,300.00
$SM_GC,-0.00,8.05,0.15,98.38,0.000,0.000,0.000,332,1994,1902,-6.27,-0.51,300.00,0,0,0,0,0,0,24.18,24.17,24.14
$RAFOS_CLK,32
$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,64.13
$INTERNAL_PRESSURE,16.1432
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.6,0.0
$SC_FREEKB,3934016
$24V_AH,24.0,188.155
$10V_AH,10.7,72.292
$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,16.725,22.325,242.675,98.375,0.000,0.000,0.000,72.625,0.000,0.000,44.261,0.000,2049.839,346.767,1099.700,406.127,33.215,775.423,0.000,873.114,0.000,23.827,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2019.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.870,0.000,0.000,0.000
$MEM,306892
$DATA_FILE_SIZE,6796,256
$CAP_FILE_SIZE,177406,0
$CFSIZE,260165632,237137920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,050114,072956,4805.868,-12221.943,13,1.7,19,18.0