version: 66.12
glider: 99
mission: 78
dive: 192
start: 1 7 114 7 59 5
data:
$ID,99
$MISSION,78
$DIVE,192
$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,-1250126.9
$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,5
$R_STBD_OVSHOOT,4
$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
$GPS1,070114,075326,4805.840,-12221.683,17,1.8,24,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,070114,075801,4805.860,-12221.690,24,2.0,32,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.132,0.085
$KALMAN_X,23466.1,74.0,42.7,-21231.6,86.5
$KALMAN_Y,3148.8,-338.8,-193.4,-6056.7,253.1
$MHEAD_RNG_PITCHd_Wd,284.7,4885,-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,-146.0,352,2008,1868,1948,0.0,0.0,0,80,0.00,0.03,-61.38,0.000,16390,0.000,0.001,353,2002,3737,3647,3827,0,0,0,0,0,0,28.83,24.14,24.19
$GC,84,-0.84,-146.0,352,2001,3641,3805,0.1,-0.4,6,97,5.95,2.65,0.00,0.000,2308,0.000,0.000,1555,3428,3724,3646,3803,0,0,0,0,0,0,24.17,24.18,28.83
$GC,183,-0.84,-146.0,1554,3424,3641,3800,12.3,-6.5,16,189,0.00,2.70,0.00,0.000,1030,0.000,0.000,1555,1974,3735,3665,3805,0,0,0,0,0,0,28.83,24.18,28.83
$GC,493,-0.84,-146.0,1549,1965,3641,3813,29.4,-5.4,47,497,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,1963,3725,3666,3784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,803,-0.84,-146.0,1556,1958,3640,3801,45.5,-5.3,78,807,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,1957,3716,3642,3790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1119,-0.84,-146.0,1555,1964,3660,3825,61.8,-5.2,99,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,1959,3716,3640,3793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1423,-0.84,-146.0,1548,1958,3638,3791,77.9,-5.2,114,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,1553,1954,3728,3655,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1721,-0.84,-146.0,1551,1962,3627,3802,93.1,-5.1,129,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,1553,1964,3730,3664,3797,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1819,begin apogee
$GC,1826,-0.31,0.0,1552,1994,3636,3818,95.1,-1.5,134,1953,0.60,0.00,120.35,0.001,10246,0.000,0.000,1655,2004,3132,3075,3190,0,0,0,0,0,0,24.18,28.83,24.13
$STATE,1955,end apogee,CONTROL_FINISHED_OK
$STATE,1955,begin climb
$GC,1958,0.84,146.0,1659,2014,3074,3199,92.1,0.0,140,2084,1.38,0.00,122.43,0.000,10246,0.000,0.000,1939,2001,2531,2489,2574,0,0,0,0,0,0,24.18,28.83,24.12
$GC,2384,0.84,146.0,1933,2006,2480,2585,66.7,5.4,162,2385,0.32,0.00,0.00,0.000,4102,0.000,0.000,1875,2006,2548,2500,2596,0,0,0,0,0,0,24.17,28.83,28.83
$GC,2683,0.84,146.0,1870,2004,2489,2589,50.3,5.5,177,2685,0.32,0.00,0.00,0.000,2054,0.000,0.000,1943,2006,2536,2486,2587,0,0,0,0,0,0,24.17,28.83,28.83
$GC,2986,0.84,146.0,1940,2005,2483,2578,32.8,6.6,206,2987,0.30,0.00,0.00,0.000,4102,0.000,0.000,1882,2012,2543,2497,2589,0,0,0,0,0,0,24.17,28.83,28.83
$GC,3287,0.87,172.1,1884,2007,2486,2586,16.2,4.2,236,3334,0.20,0.00,37.65,0.000,10246,0.000,0.000,1917,2007,2428,2385,2471,0,0,0,0,1,0,24.17,28.83,24.13
$STATE,3619,end climb,SURFACE_DEPTH_REACHED
$STATE,3619,begin surface coast
$FINISH,-0.0,0.000000
$STATE,3665,end surface coast,CONTROL_FINISHED_OK
$STATE,3665,begin surface
$SM_CCo,3685,81.65,0.000,0,0,1906,300.00
$SM_GC,-0.01,8.12,0.00,81.65,0.000,0.000,0.000,317,2002,1906,-6.36,0.37,300.00,0,0,0,0,0,0,24.17,28.83,24.14
$RAFOS_CLK,11
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.05992,0.05992
$HUMID,64.84
$INTERNAL_PRESSURE,16.0065
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.4,0.0
$SC_FREEKB,3928256
$24V_AH,24.0,188.966
$10V_AH,10.5,73.671
$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,17.200,5.550,280.425,81.650,0.000,0.000,0.000,71.025,0.000,0.000,33.676,0.000,2220.141,349.682,1059.259,414.890,33.223,734.112,0.000,869.015,0.000,23.842,0.000
$DEVICE_MAMPS,119.000,0.765,0.765,600.000,0.000,0.000,0.000,56.610,0.000,0.000,50.000,0.000,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3671.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.295,0.000,0.000,0.000
$MEM,306864
$DATA_FILE_SIZE,6796,273
$CAP_FILE_SIZE,180101,0
$CFSIZE,260165632,234856448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$GPS,070114,090241,4806.210,-12222.052,9,1.2,16,18.0