version: 66.12
glider: 99
mission: 78
dive: 154
start: 1 5 114 12 59 47
data:
$ID,99
$MISSION,78
$DIVE,154
$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,-1250079.4
$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,1
$R_STBD_OVSHOOT,63
$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
$GPS1,050114,125408,4807.455,-12223.411,26,2.0,33,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,050114,125843,4807.449,-12223.413,26,1.9,33,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.137,0.077
$KALMAN_X,18619.8,-64.9,-116.9,-18215.0,84.4
$KALMAN_Y,-800.9,260.9,137.7,-92.2,316.7
$MHEAD_RNG_PITCHd_Wd,281.4,1252,-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,-146.0,314,1987,1867,1947,0.0,0.0,0,84,0.00,0.00,-60.53,0.000,16390,0.000,0.000,313,1988,3711,3641,3782,0,0,0,0,0,0,28.83,28.83,24.19
$GC,88,-0.84,-146.0,314,1994,3637,3781,-0.0,-0.0,6,102,6.12,2.65,-0.03,0.000,18948,0.000,0.000,1533,573,3720,3644,3796,0,0,0,0,0,0,24.18,24.18,24.15
$GC,233,-0.84,-146.0,1532,574,3638,3783,14.3,-5.9,21,237,0.00,2.62,0.00,0.000,1030,0.000,0.000,1533,1994,3721,3635,3808,0,0,0,0,0,0,28.83,24.18,28.83
$GC,544,-0.84,-146.0,1532,1992,3644,3782,30.5,-4.9,52,544,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,1995,3714,3637,3791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,844,-0.84,-146.0,1531,1982,3667,3804,45.3,-4.7,82,844,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,1995,3722,3639,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1159,-0.84,-146.0,1533,2006,3661,3783,61.1,-5.1,102,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,1991,3711,3636,3787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1464,-0.84,-146.0,1531,1987,3647,3788,75.7,-4.9,117,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,2000,3725,3659,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1776,-0.84,-146.0,1534,1993,3637,3802,90.4,-5.0,132,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,1995,3718,3641,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2079,-0.84,-146.0,1530,1991,3645,3809,88.9,5.2,148,2086,0.00,2.53,-0.03,0.000,16644,0.000,0.000,1540,3401,3721,3651,3792,0,0,0,0,0,0,28.83,24.18,24.13
$GC,2207,-0.84,-146.0,1531,3394,3668,3792,81.2,6.2,154,2212,0.00,2.60,0.00,0.000,1030,0.000,0.000,1532,1937,3708,3643,3773,0,0,0,0,0,0,28.83,24.18,28.83
$STATE,2263,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2264,begin apogee
$GC,2271,-0.31,0.0,1533,1945,3645,3796,77.5,6.3,157,2396,0.68,0.00,119.78,0.001,10246,0.000,0.000,1668,1946,3130,3076,3185,0,0,0,0,0,0,24.18,28.83,24.12
$STATE,2402,end apogee,CONTROL_FINISHED_OK
$STATE,2402,begin climb
$GC,2405,0.84,146.0,1657,1938,3071,3186,70.0,0.0,163,2531,1.27,0.00,121.50,0.001,10246,0.000,0.000,1917,1936,2535,2490,2580,0,0,0,0,0,0,24.18,28.83,24.13
$GC,2826,0.84,146.0,1920,1939,2485,2580,41.4,6.4,191,2829,0.00,0.00,1.80,0.000,8198,0.000,0.000,1921,1935,2541,2493,2589,0,0,0,0,0,0,28.83,28.83,24.15
$GC,3130,0.84,146.0,1919,1934,2490,2589,23.7,5.7,221,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,1936,2540,2492,2589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3437,0.84,146.0,1919,1937,2501,2591,6.8,5.0,252,3444,0.00,2.60,0.00,0.000,516,0.000,0.000,1919,522,2538,2488,2589,0,0,0,0,0,0,28.83,24.18,28.83
$STATE,3538,end climb,SURFACE_DEPTH_REACHED
$STATE,3538,begin surface coast
$STATE,3577,end surface coast,CONTROL_FINISHED_OK
$STATE,3577,begin surface
$SM_CCo,3601,99.03,0.000,0,0,1904,300.25
$SM_GC,-0.00,8.12,2.75,99.03,0.000,0.000,0.000,336,2022,1904,-6.37,-1.39,300.25,0,0,0,0,0,0,24.18,24.18,24.15
$RAFOS_CLK,12
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.062167,0.062167
$HUMID,63.15
$INTERNAL_PRESSURE,16.1725
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.7,0.0
$SC_FREEKB,3933248
$24V_AH,24.0,188.276
$10V_AH,10.5,72.482
$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,16.200,15.750,243.075,99.025,0.000,0.000,0.000,71.400,0.000,0.000,34.740,0.000,2274.516,380.791,964.098,358.306,33.223,742.513,0.000,722.028,0.000,27.185,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,1193.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.104,0.000,0.000,0.000
$MEM,306868
$DATA_FILE_SIZE,6801,264
$CAP_FILE_SIZE,147047,0
$CFSIZE,260165632,236855296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,050114,140234,4807.794,-12223.811,26,1.4,33,18.0