version: 66.12
glider: 99
mission: 78
dive: 150
start: 1 5 114 8 39 32
data:
$ID,99
$MISSION,78
$DIVE,150
$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,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,-1250074.4
$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,0
$R_STBD_OVSHOOT,2
$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
$GPS1,050114,083246,4805.979,-12222.218,28,1.5,34,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,050114,083830,4806.041,-12222.255,22,1.8,31,18.0
$SPEED_LIMITS,0.047,0.057
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.042,0.039
$KALMAN_X,17914.3,26.1,246.0,-16529.8,-100.5
$KALMAN_Y,-1715.3,28.5,-254.9,-1161.2,293.7
$MHEAD_RNG_PITCHd_Wd,295.1,4221,-36.5,-4.726,-39.54,497
$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,-2.30,-15.5,334,2029,1868,1940,0.0,0.0,0,62,0.00,0.15,-42.53,0.000,16390,0.000,0.000,333,1985,3185,3132,3238,0,0,0,0,0,0,28.83,24.18,24.19
$GC,66,-2.30,-15.5,334,1984,3116,3226,-0.0,0.0,4,75,4.55,2.60,-0.03,0.000,18948,0.000,0.000,1253,517,3183,3111,3255,0,0,0,0,0,0,24.18,24.18,24.14
$GC,356,-2.32,-33.0,1254,517,3124,3238,8.5,-1.1,32,365,0.25,2.78,-2.30,0.000,21510,0.000,0.000,1220,2000,3244,3177,3312,0,0,0,0,0,0,24.18,24.18,24.19
$GC,673,-2.32,-33.0,1220,1992,3187,3314,24.6,-6.7,64,681,0.00,2.67,-0.12,0.000,16644,0.000,0.000,1214,3458,3253,3193,3313,0,0,0,0,0,0,28.83,24.18,24.18
$GC,973,-2.32,-33.0,1219,3456,3193,3321,43.3,-6.4,92,979,0.00,2.80,-0.32,0.000,17414,0.000,0.000,1218,1966,3249,3186,3313,0,0,0,0,0,0,28.83,24.18,24.19
$GC,1278,-2.32,-33.0,1222,1963,3191,3327,64.1,-6.8,113,1282,0.00,2.72,0.00,0.000,260,0.000,0.000,1217,3460,3251,3184,3319,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1294,-2.32,-33.0,1221,3427,3174,3327,65.2,-6.9,114,1299,0.00,2.78,-0.05,0.000,17414,0.000,0.000,1221,1880,3249,3180,3318,0,0,0,0,0,0,28.83,24.18,24.18
$GC,1617,-2.32,-33.0,1219,1885,3177,3321,86.4,-6.5,130,1622,0.00,2.75,-0.10,0.000,16644,0.000,0.000,1220,3436,3259,3198,3320,0,0,0,0,0,0,28.83,24.18,24.18
$GC,1901,-2.42,-114.9,1220,3413,3198,3339,80.9,12.2,144,1917,0.28,2.78,-10.95,0.000,21510,0.000,0.000,1188,1944,3594,3526,3662,0,0,0,0,0,0,24.18,24.18,24.19
$GC,2223,-2.46,-146.0,1187,1957,3513,3658,42.0,11.6,163,2231,0.00,2.65,-3.92,0.000,16644,0.000,0.000,1187,3457,3709,3633,3786,0,0,0,0,0,0,28.83,24.18,24.19
$STATE,2255,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2255,begin apogee
$GC,2265,-0.31,0.0,1189,1939,3635,3773,38.0,11.3,167,2389,2.40,0.28,116.93,0.001,10246,0.000,0.000,1653,2032,3128,3068,3188,0,0,0,0,0,0,24.18,24.18,24.12
$STATE,2394,end apogee,CONTROL_FINISHED_OK
$STATE,2394,begin climb
$GC,2397,2.46,146.0,1657,2038,3091,3198,24.0,0.0,180,2527,3.00,0.00,121.43,0.001,10758,0.000,0.000,2233,2045,2535,2483,2587,0,0,0,0,0,0,24.18,28.83,24.13
$STATE,2606,end climb,SURFACE_DEPTH_REACHED
$STATE,2606,begin surface coast
$STATE,2626,end surface coast,CONTROL_FINISHED_OK
$STATE,2626,begin surface
$SM_CCo,2650,99.10,0.000,0,0,1905,300.74
$SM_GC,-0.00,9.73,0.20,99.10,0.000,0.000,0.000,318,1963,1905,-6.35,0.06,300.74,0,0,0,0,0,0,24.18,24.17,24.15
$RAFOS_CLK,31
$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,62.40
$INTERNAL_PRESSURE,16.153
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.3,0.0
$SC_FREEKB,3933760
$24V_AH,24.0,188.202
$10V_AH,10.5,72.355
$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,20.200,28.100,238.350,99.100,0.000,0.000,0.000,102.175,0.000,0.000,32.656,0.000,1469.183,350.018,888.778,361.391,33.204,764.620,0.000,664.859,0.000,21.083,0.000
$DEVICE_MAMPS,119.000,60.000,0.765,600.000,0.000,0.000,0.000,55.080,0.000,0.000,50.000,0.000,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2403.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.958,0.000,0.000,0.000
$MEM,306944
$DATA_FILE_SIZE,6830,204
$CAP_FILE_SIZE,140476,1
$CFSIZE,260165632,237068288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,050114,092635,4806.257,-12222.306,33,1.5,39,18.0