version: 66.12
glider: 99
mission: 78
dive: 170
start: 1 6 114 6 27 33
data:
$ID,99
$MISSION,78
$DIVE,170
$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,-1250099.4
$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,4
$R_STBD_OVSHOOT,16
$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
$GPS1,060114,062148,4805.216,-12220.989,20,1.7,28,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,060114,062629,4805.218,-12221.001,37,1.5,43,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.108,0.114
$KALMAN_X,21353.6,87.2,-44.3,-18193.9,163.3
$KALMAN_Y,587.6,-366.3,-100.3,-4749.7,-90.0
$MHEAD_RNG_PITCHd_Wd,298.5,6348,-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,-146.0,349,2114,1867,1946,0.0,0.0,0,80,0.00,0.25,-60.60,0.000,16390,0.000,0.000,348,1980,3714,3649,3780,0,0,0,0,0,0,28.83,24.18,24.19
$GC,84,-0.84,-146.0,349,1979,3630,3792,0.2,-0.4,6,104,6.03,2.75,-0.30,0.000,18948,0.000,0.000,1537,548,3703,3627,3780,0,0,0,0,0,0,24.18,24.18,24.19
$GC,380,-0.84,-146.0,1538,549,3625,3785,21.4,-5.4,34,385,0.00,2.75,0.00,0.000,1030,0.000,0.000,1535,2039,3702,3629,3776,0,0,0,0,0,0,28.83,24.18,28.83
$GC,691,-0.84,-146.0,1536,2031,3634,3791,36.9,-5.4,65,692,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,2047,3708,3635,3781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1006,-0.84,-146.0,1536,2030,3634,3791,52.1,-5.0,93,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,2035,3722,3643,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1309,-0.84,-146.0,1533,2038,3651,3781,68.6,-5.0,109,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,2034,3706,3626,3787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1611,-0.84,-146.0,1541,2036,3632,3790,83.1,-4.9,124,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,2031,3706,3639,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1909,-0.84,-146.0,1537,2031,3625,3785,94.8,-1.6,139,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,2042,3717,3633,3802,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1926,begin apogee
$GC,1934,-0.31,0.0,1533,1955,3637,3772,95.0,-1.4,140,2059,0.68,0.00,118.25,0.001,10246,0.000,0.000,1657,1947,3131,3072,3191,0,0,0,0,0,0,24.18,28.83,24.13
$STATE,2060,end apogee,CONTROL_FINISHED_OK
$STATE,2060,begin climb
$GC,2064,0.84,146.0,1659,1953,3073,3197,91.4,0.0,146,2191,1.25,0.00,122.85,0.001,10758,0.000,0.000,1917,1964,2536,2485,2587,0,0,0,0,0,0,24.18,28.83,24.13
$GC,2494,0.84,146.0,1906,1960,2499,2586,63.1,6.1,168,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,1961,2524,2483,2566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2804,0.84,146.0,1916,1949,2484,2585,44.2,6.5,187,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,1957,2533,2481,2586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3102,0.84,146.0,1921,1965,2483,2586,25.0,5.5,218,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,1959,2535,2482,2588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3406,0.84,146.0,1921,1952,2493,2589,7.9,5.5,248,3411,0.00,0.00,0.55,0.001,8198,0.000,0.000,1924,1956,2552,2492,2613,0,0,0,0,0,0,28.83,28.83,24.14
$STATE,3554,end climb,SURFACE_DEPTH_REACHED
$STATE,3554,begin surface coast
$STATE,3604,end surface coast,CONTROL_FINISHED_OK
$STATE,3604,begin surface
$SM_CCo,3625,98.10,0.000,0,0,1901,300.25
$SM_GC,-0.00,8.15,0.00,98.10,0.000,0.000,0.000,330,1949,1901,-6.29,-1.24,300.25,0,0,0,0,0,0,24.18,28.83,24.14
$RAFOS_CLK,34
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.043442,0.043442
$HUMID,62.40
$INTERNAL_PRESSURE,16.0944
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.5,0.0
$SC_FREEKB,3931072
$24V_AH,24.0,188.593
$10V_AH,10.6,72.976
$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,16.100,6.200,241.650,98.100,0.000,0.000,0.000,71.250,0.000,0.000,44.179,0.000,2210.283,357.062,1038.537,405.315,33.216,720.404,0.000,858.942,0.000,26.664,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2071.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.826,0.000,0.000,0.000
$MEM,306984
$DATA_FILE_SIZE,6796,268
$CAP_FILE_SIZE,179889,0
$CFSIZE,260165632,235999232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,060114,073032,4805.483,-12221.260,12,1.2,20,18.0