version: 66.12
glider: 99
mission: 78
dive: 171
start: 1 6 114 7 35 51
data:
$ID,99
$MISSION,78
$DIVE,171
$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,-1250100.6
$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,35
$R_STBD_OVSHOOT,49
$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
$GPS1,060114,073032,4805.483,-12221.260,12,1.2,20,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,060114,073447,4805.527,-12221.259,8,1.8,17,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.128,0.091
$KALMAN_X,21438.6,36.1,13.2,-18602.1,121.6
$KALMAN_Y,907.9,-390.5,-255.9,-4319.0,143.6
$MHEAD_RNG_PITCHd_Wd,287.5,5697,-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,-146.0,330,1954,1869,1946,0.0,0.0,0,84,0.00,0.00,-60.22,0.000,16390,0.000,0.000,329,1957,3713,3631,3795,0,0,0,0,0,0,28.83,28.83,24.19
$GC,88,-0.84,-146.0,331,1949,3630,3780,0.1,-0.1,6,101,6.12,2.62,0.00,0.000,2564,0.000,0.000,1548,584,3716,3643,3789,0,0,0,0,0,0,24.18,24.18,28.83
$GC,374,-0.84,-146.0,1546,585,3642,3799,20.1,-5.2,35,378,0.00,2.62,0.00,0.000,1030,0.000,0.000,1544,1955,3700,3631,3770,0,0,0,0,0,0,28.83,24.18,28.83
$GC,689,-0.84,-146.0,1547,1960,3638,3804,35.3,-5.0,66,690,0.00,0.00,-0.15,0.000,16390,0.000,0.000,1544,1959,3713,3634,3793,0,0,0,0,0,0,28.83,28.83,24.18
$GC,990,-0.84,-146.0,1548,1965,3640,3801,48.8,-4.4,96,991,0.00,0.00,-0.05,0.000,16390,0.000,0.000,1546,1953,3728,3656,3800,0,0,0,0,0,0,28.83,28.83,24.18
$GC,1304,-0.84,-146.0,1548,1958,3650,3797,62.4,-4.3,113,1305,0.00,0.00,-0.05,0.000,16390,0.000,0.000,1547,1957,3717,3641,3794,0,0,0,0,0,0,28.83,28.83,24.15
$GC,1602,-0.84,-146.0,1544,1959,3640,3784,75.5,-4.4,128,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,1960,3727,3652,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1903,-0.84,-146.0,1546,1959,3632,3788,88.8,-4.3,143,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,1959,3720,3648,3792,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2201,-0.84,-146.0,1546,1960,3626,3804,92.4,2.7,158,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,1949,3703,3629,3777,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2259,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2259,begin apogee
$GC,2267,-0.31,0.0,1548,1996,3654,3783,89.6,4.4,161,2390,0.60,0.00,119.65,0.001,10246,0.000,0.000,1658,2003,3139,3078,3200,0,0,0,0,0,0,24.18,28.83,24.12
$STATE,2391,end apogee,CONTROL_FINISHED_OK
$STATE,2391,begin climb
$GC,2395,0.84,146.0,1659,2001,3079,3186,83.0,0.0,167,2520,1.25,0.00,121.93,0.001,10246,0.000,0.000,1896,1996,2536,2493,2580,0,0,0,0,0,0,24.18,28.83,24.13
$GC,2820,0.84,146.0,1897,2005,2496,2587,58.4,5.6,189,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,2004,2534,2487,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3120,0.84,146.0,1896,2006,2502,2583,42.6,5.0,211,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,2004,2530,2481,2580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3428,0.84,146.0,1897,2017,2492,2584,26.8,5.0,241,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,2013,2534,2482,2587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3732,0.84,146.0,1892,2017,2491,2596,11.0,5.2,271,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,2004,2543,2487,2600,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3925,end climb,SURFACE_DEPTH_REACHED
$STATE,3926,begin surface coast
$STATE,3968,end surface coast,CONTROL_FINISHED_OK
$STATE,3968,begin surface
$SM_CCo,3990,99.05,0.000,0,0,1911,300.00
$SM_GC,-0.00,7.95,0.00,99.05,0.000,0.000,0.000,327,2001,1911,-6.29,0.23,300.00,0,0,0,0,0,0,24.18,28.83,24.15
$RAFOS_CLK,33
$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,62.32
$INTERNAL_PRESSURE,16.0748
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.3,0.0
$SC_FREEKB,3930944
$24V_AH,24.0,188.611
$10V_AH,10.7,73.009
$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,15.925,5.425,241.575,99.050,0.000,0.000,0.000,68.900,0.000,0.000,18.289,0.000,2528.051,302.857,1104.469,410.106,33.216,727.596,0.000,880.500,0.000,29.579,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2400.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.101,0.000,0.000,0.000
$MEM,306916
$DATA_FILE_SIZE,10162,295
$CAP_FILE_SIZE,177538,0
$CFSIZE,260165632,235941888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,060114,084501,4805.861,-12221.665,19,2.0,26,18.0