version: 66.12
glider: 99
mission: 78
dive: 169
start: 1 6 114 5 17 59
data:
$ID,99
$MISSION,78
$DIVE,169
$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,-1250098.1
$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,4
$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
$GPS1,060114,051241,4804.941,-12220.914,25,1.6,32,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,060114,051655,4804.938,-12220.902,11,1.6,17,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.085,0.132
$KALMAN_X,21069.2,176.5,-52.1,-17868.5,99.1
$KALMAN_Y,394.7,-322.9,28.6,-5243.0,-165.7
$MHEAD_RNG_PITCHd_Wd,309.0,6843,-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,-146.0,345,1974,1870,1948,0.0,0.0,0,84,0.00,0.17,-60.50,0.000,16390,0.000,0.000,345,2045,3713,3649,3778,0,0,0,0,0,0,28.83,24.18,24.19
$GC,88,-0.84,-146.0,345,2041,3639,3793,0.0,-0.1,6,102,6.03,2.75,0.00,0.000,2564,0.000,0.000,1565,522,3721,3656,3787,0,0,0,0,0,0,24.18,24.18,28.83
$GC,374,-0.84,-146.0,1565,523,3648,3807,21.9,-5.5,35,379,0.28,2.83,0.00,0.000,5126,0.000,0.000,1524,2011,3727,3660,3795,0,0,0,0,0,0,24.18,24.18,28.83
$GC,693,-0.84,-146.0,1531,2037,3647,3794,39.1,-5.3,66,694,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,2019,3735,3644,3826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,997,-0.84,-146.0,1530,2022,3650,3782,54.0,-5.0,92,998,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,2020,3714,3645,3784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1297,-0.84,-146.0,1530,2022,3639,3800,69.5,-5.2,107,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,2014,3707,3632,3783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1593,-0.84,-146.0,1531,2024,3642,3794,84.7,-4.9,122,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,2021,3735,3655,3816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1893,-0.84,-146.0,1531,2021,3651,3787,94.9,-0.6,137,1894,0.00,0.00,-0.15,0.000,16390,0.000,0.000,1532,2020,3716,3647,3785,0,0,0,0,0,0,28.83,28.83,24.18
$GC,2197,-0.84,-146.0,1523,2025,3657,3793,78.7,6.1,152,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,2023,3720,3643,3797,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2270,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2271,begin apogee
$GC,2278,-0.31,0.0,1527,1921,3647,3792,73.7,6.2,156,2403,0.75,0.28,119.65,0.001,10246,0.000,0.000,1658,2023,3132,3069,3195,0,0,0,0,0,0,24.18,24.18,24.13
$STATE,2409,end apogee,CONTROL_FINISHED_OK
$STATE,2409,begin climb
$GC,2413,0.84,146.0,1657,2027,3069,3192,66.2,0.0,162,2539,1.33,0.00,123.22,0.001,10246,0.000,0.000,1921,2028,2539,2489,2589,0,0,0,0,0,0,24.18,28.83,24.13
$GC,2837,0.84,146.0,1923,2028,2480,2571,37.7,6.3,193,2843,0.00,2.72,0.00,0.000,516,0.000,0.000,1918,546,2537,2490,2584,0,0,0,0,0,0,28.83,24.18,28.83
$GC,2901,0.84,146.0,1919,547,2489,2584,33.6,6.4,199,2906,0.00,2.83,0.00,0.000,1030,0.000,0.000,1922,2045,2534,2480,2588,0,0,0,0,0,0,28.83,24.18,28.83
$GC,3209,0.84,146.0,1918,2020,2489,2587,15.3,5.3,230,3210,0.05,0.00,0.08,0.000,12294,0.002,0.000,1904,2024,2537,2489,2586,0,0,0,0,0,0,24.16,28.83,24.14
$GC,3516,0.96,242.3,1903,2039,2490,2602,2.0,2.0,260,3520,0.28,0.00,2.62,0.000,10242,0.000,0.000,1921,2023,2518,2465,2571,0,0,0,0,0,0,24.18,28.83,28.83
$STATE,3521,end climb,SURFACE_DEPTH_REACHED
$STATE,3521,begin surface coast
$FINISH,-0.0,0.000000
$STATE,3650,end surface coast,CONTROL_FINISHED_OK
$STATE,3650,begin surface
$SM_CCo,3671,95.45,0.000,0,0,1907,300.25
$SM_GC,-0.01,8.15,0.17,95.45,0.000,0.000,0.000,348,1932,1907,-6.32,-0.31,300.25,0,0,0,0,0,0,24.18,24.17,24.14
$RAFOS_CLK,17
$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,61.57
$INTERNAL_PRESSURE,16.1041
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.5,0.0
$SC_FREEKB,3931200
$24V_AH,24.0,188.575
$10V_AH,10.6,72.943
$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,16.850,12.125,245.575,95.450,0.000,0.000,0.000,70.400,0.000,0.000,18.313,0.000,2321.122,311.651,1015.646,376.256,33.227,726.574,0.000,785.739,0.000,23.857,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,1256.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.187,0.000,0.000,0.000
$MEM,306752
$DATA_FILE_SIZE,6823,274
$CAP_FILE_SIZE,156394,0
$CFSIZE,260165632,236072960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,060114,062148,4805.216,-12220.989,20,1.7,28,18.0