version: 66.12
glider: 99
mission: 78
dive: 175
start: 1 6 114 12 34 25
data:
$ID,99
$MISSION,78
$DIVE,175
$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,-1250105.6
$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,50
$R_STBD_OVSHOOT,6
$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
$GPS1,060114,122838,4806.956,-12222.933,28,2.0,33,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,060114,123321,4806.965,-12222.952,37,1.8,44,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.110,0.112
$KALMAN_X,21528.3,-206.1,-17.4,-20512.8,-26.2
$KALMAN_Y,1285.3,92.3,156.9,-2924.6,233.5
$MHEAD_RNG_PITCHd_Wd,297.3,2314,-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,-146.0,341,2030,1872,1946,0.0,0.0,0,78,0.00,0.00,-59.75,0.000,16390,0.000,0.000,339,2033,3711,3623,3800,0,0,0,0,0,0,28.83,28.83,24.19
$GC,85,-0.84,-146.0,341,2031,3646,3762,0.0,-0.2,6,97,5.97,2.62,-0.65,0.000,18948,0.000,0.000,1527,607,3706,3630,3783,0,0,0,0,0,0,24.18,24.18,24.18
$GC,368,-0.84,-146.0,1526,607,3651,3761,23.1,-5.2,34,374,0.00,2.62,0.00,0.000,1030,0.000,0.000,1523,2052,3712,3632,3792,0,0,0,0,0,0,28.83,24.18,28.83
$GC,683,-0.84,-146.0,1523,2062,3620,3803,39.0,-4.9,65,684,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,2057,3715,3647,3784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,995,-0.84,-146.0,1526,2057,3660,3790,54.2,-4.7,92,996,0.00,0.00,-0.03,0.000,16390,0.000,0.000,1527,2060,3712,3640,3785,0,0,0,0,0,0,28.83,28.83,24.14
$GC,1298,-0.84,-146.0,1528,2052,3646,3803,68.3,-4.9,107,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,2051,3707,3632,3783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1596,-0.84,-146.0,1525,2056,3644,3790,82.9,-4.8,122,1600,0.00,2.42,-0.17,0.000,16644,0.000,0.000,1524,3437,3718,3648,3788,0,0,0,0,0,0,28.83,24.18,24.18
$GC,1879,-0.84,-146.0,1527,3450,3652,3780,94.6,-2.0,136,1883,0.00,2.60,-0.03,0.000,17414,0.000,0.000,1527,1993,3715,3644,3786,0,0,0,0,0,0,28.83,24.18,24.15
$GC,2199,-0.84,-146.0,1524,1993,3654,3789,81.0,6.0,152,2200,0.00,0.00,-0.05,0.000,16390,0.000,0.000,1521,1989,3710,3634,3787,0,0,0,0,0,0,28.83,28.83,24.17
$STATE,2255,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2255,begin apogee
$GC,2263,-0.31,0.0,1526,2038,3664,3785,77.5,6.0,155,2390,0.80,0.00,119.22,0.001,10246,0.000,0.000,1672,2029,3130,3067,3194,0,0,0,0,0,0,24.18,28.83,24.13
$STATE,2394,end apogee,CONTROL_FINISHED_OK
$STATE,2394,begin climb
$GC,2397,0.84,146.0,1662,2024,3089,3206,70.5,0.0,161,2529,1.23,2.65,122.12,0.001,10500,0.000,0.000,1934,3387,2538,2488,2589,0,0,0,0,0,0,24.18,24.18,24.12
$GC,2805,0.84,146.0,1919,3410,2487,2605,46.2,6.3,184,2810,0.00,2.60,0.00,0.000,1030,0.000,0.000,1914,2048,2542,2482,2603,0,0,0,0,0,0,28.83,24.18,28.83
$GC,3113,0.84,146.0,1916,2032,2501,2591,27.7,5.7,215,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,2048,2532,2480,2585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3420,0.84,146.0,1918,2048,2488,2580,9.9,5.3,245,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,2053,2531,2486,2576,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3577,end climb,SURFACE_DEPTH_REACHED
$STATE,3577,begin surface coast
$STATE,3618,end surface coast,CONTROL_FINISHED_OK
$STATE,3618,begin surface
$SM_CCo,3641,98.12,0.000,0,0,1910,300.00
$SM_GC,-0.00,8.07,0.20,98.12,0.000,0.000,0.000,319,2004,1910,-6.36,0.08,300.00,0,0,0,0,0,0,24.18,24.17,24.14
$RAFOS_CLK,19
$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,61.57
$INTERNAL_PRESSURE,16.0455
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.4,0.0
$SC_FREEKB,3930432
$24V_AH,24.0,188.678
$10V_AH,10.6,73.147
$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,16.075,15.825,241.350,98.125,0.000,0.000,0.000,69.175,0.000,0.000,45.398,0.000,2236.870,360.669,1046.281,378.458,33.221,766.576,0.000,779.478,0.000,26.759,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2402.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.042,0.000,0.000,0.000
$MEM,306936
$DATA_FILE_SIZE,6829,265
$CAP_FILE_SIZE,160748,0
$CFSIZE,260165632,235745280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,060114,133758,4807.294,-12223.260,34,1.2,40,18.0