version: 66.12
glider: 99
mission: 78
dive: 153
start: 1 5 114 11 52 1
data:
$ID,99
$MISSION,78
$DIVE,153
$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,-1250078.1
$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,36
$R_STBD_OVSHOOT,3
$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
$GPS1,050114,114632,4807.101,-12222.998,36,1.7,42,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,050114,115057,4807.104,-12222.981,15,2.0,23,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.146,0.058
$KALMAN_X,18616.0,-126.9,-71.8,-17662.4,103.6
$KALMAN_Y,-1061.3,225.8,13.6,-311.6,372.0
$MHEAD_RNG_PITCHd_Wd,273.6,2083,-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,-146.0,352,2004,1872,1945,0.0,0.0,0,84,0.00,0.00,-60.50,0.000,16390,0.000,0.000,350,2012,3707,3634,3780,0,0,0,0,0,0,28.83,28.83,24.19
$GC,88,-0.84,-146.0,352,1990,3638,3785,0.0,-0.1,6,101,6.05,2.62,-0.05,0.000,18948,0.000,0.000,1566,595,3725,3660,3791,0,0,0,0,0,0,24.18,24.18,24.19
$GC,374,-0.84,-146.0,1568,596,3656,3790,23.2,-6.1,35,378,0.22,2.65,0.00,0.000,5126,0.000,0.000,1524,2102,3721,3634,3809,0,0,0,0,0,0,24.18,24.18,28.83
$GC,692,-0.84,-146.0,1537,2093,3635,3807,39.9,-5.1,66,693,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,2088,3727,3651,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,996,-0.84,-146.0,1521,2094,3647,3791,55.7,-5.1,91,997,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,2095,3729,3665,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1300,-0.84,-146.0,1529,2090,3653,3783,70.8,-5.3,106,1304,0.00,2.58,0.00,0.000,260,0.000,0.000,1524,3432,3721,3650,3793,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1593,-0.84,-146.0,1525,3456,3642,3790,86.7,-5.2,120,1598,0.00,2.70,0.00,0.000,1030,0.000,0.000,1522,1990,3720,3631,3809,0,0,0,0,0,0,28.83,24.18,28.83
$STATE,1810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1810,begin apogee
$GC,1818,-0.31,0.0,1523,1997,3648,3795,95.0,-1.8,131,1941,0.68,0.05,118.40,0.001,10246,0.000,0.000,1674,2041,3143,3071,3216,0,0,0,0,0,0,24.18,24.18,24.13
$STATE,1947,end apogee,CONTROL_FINISHED_OK
$STATE,1947,begin climb
$GC,1950,0.84,146.0,1667,2042,3071,3210,92.4,0.0,137,2078,1.27,0.00,124.05,0.001,10758,0.000,0.000,1914,2038,2532,2482,2582,0,0,0,0,0,0,24.18,28.83,24.13
$GC,2368,0.84,146.0,1906,2045,2489,2590,66.1,6.0,159,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2038,2535,2484,2586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2671,0.84,146.0,1904,2047,2486,2585,47.1,6.5,176,2677,0.00,2.67,0.00,0.000,516,0.000,0.000,1911,592,2528,2481,2576,0,0,0,0,0,0,28.83,24.18,28.83
$GC,2968,0.84,146.0,1914,592,2482,2582,29.6,5.6,204,2973,0.00,2.53,0.00,0.000,1030,0.000,0.000,1916,2025,2538,2489,2587,0,0,0,0,0,0,28.83,24.18,28.83
$GC,3283,0.84,146.0,1913,2025,2485,2589,12.0,5.3,235,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,2037,2539,2494,2585,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3487,end climb,SURFACE_DEPTH_REACHED
$STATE,3488,begin surface coast
$STATE,3538,end surface coast,CONTROL_FINISHED_OK
$STATE,3538,begin surface
$SM_CCo,3563,97.60,0.000,0,0,1908,301.23
$SM_GC,-0.00,8.02,0.20,97.60,0.000,0.000,0.000,315,1989,1908,-6.35,-0.37,301.23,0,0,0,0,0,0,24.18,24.17,24.15
$RAFOS_CLK,21
$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,63.62
$INTERNAL_PRESSURE,16.1627
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.8,0.0
$SC_FREEKB,3933376
$24V_AH,24.0,188.257
$10V_AH,10.6,72.451
$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,16.250,16.150,242.450,97.600,0.000,0.000,0.000,71.425,0.000,0.000,24.469,0.000,2180.296,373.655,1002.943,368.920,33.223,761.814,0.000,775.844,0.000,23.836,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,21.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.862,0.000,0.000,0.000
$MEM,306868
$DATA_FILE_SIZE,6821,261
$CAP_FILE_SIZE,155060,0
$CFSIZE,260165632,236900352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,050114,125408,4807.455,-12223.411,26,2.0,33,18.0