version: 66.12
glider: 99
mission: 78
dive: 195
start: 1 7 114 11 26 39
data:
$ID,99
$MISSION,78
$DIVE,195
$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,-1250130.6
$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,4
$R_STBD_OVSHOOT,2
$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
$GPS1,070114,112058,4806.968,-12222.880,25,1.8,33,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,070114,112539,4806.972,-12222.876,29,2.0,34,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.129,0.090
$KALMAN_X,23664.2,-129.4,83.8,-22732.9,-41.2
$KALMAN_Y,3739.9,-37.1,17.1,-5096.8,384.4
$MHEAD_RNG_PITCHd_Wd,286.8,2357,-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,-146.0,336,1948,1865,1943,0.0,0.0,0,80,0.00,0.30,-60.72,0.000,16390,0.000,0.000,336,2048,3722,3639,3805,0,0,0,0,0,0,28.83,24.17,24.18
$GC,84,-0.84,-146.0,337,2050,3634,3790,0.2,-0.7,6,97,6.07,2.88,0.00,0.000,2564,0.000,0.000,1550,543,3723,3647,3800,0,0,0,0,0,0,24.18,24.18,28.83
$GC,382,-0.84,-146.0,1546,543,3632,3782,24.7,-5.4,35,386,0.00,2.72,0.00,0.000,1030,0.000,0.000,1544,2002,3715,3637,3793,0,0,0,0,0,0,28.83,24.18,28.83
$GC,689,-0.84,-146.0,1547,2009,3643,3786,39.5,-4.6,65,696,0.00,2.65,-0.03,0.000,16900,0.000,0.000,1543,574,3715,3634,3796,0,0,0,0,0,0,28.83,24.18,24.13
$GC,806,-0.84,-146.0,1545,576,3640,3813,45.0,-4.9,76,813,0.00,2.78,-0.03,0.000,17414,0.000,0.000,1546,2048,3717,3642,3793,0,0,0,0,0,0,28.83,24.17,24.15
$GC,1115,-0.84,-146.0,1546,2052,3640,3794,59.6,-4.9,97,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,2055,3707,3631,3784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1414,-0.84,-146.0,1545,2046,3662,3788,73.6,-4.7,112,1415,0.00,0.00,-0.20,0.000,16390,0.000,0.000,1548,2053,3740,3656,3824,0,0,0,0,0,0,28.83,28.83,24.18
$GC,1714,-0.84,-146.0,1547,2052,3649,3783,87.2,-4.6,127,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,2049,3721,3649,3794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2015,-0.84,-146.0,1546,2056,3686,3797,93.6,1.3,142,2018,0.00,2.58,0.00,0.000,260,0.000,0.000,1546,3462,3714,3640,3789,0,0,0,0,0,0,28.83,24.18,28.83
$GC,2187,-0.84,-146.0,1547,3461,3640,3776,85.9,5.4,150,2191,0.00,2.88,0.00,0.000,1030,0.000,0.000,1541,1959,3727,3666,3789,0,0,0,0,0,0,28.83,24.18,28.83
$STATE,2264,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2264,begin apogee
$GC,2271,-0.31,0.0,1545,2061,3639,3794,80.7,5.7,155,2396,0.68,0.22,119.40,0.001,10246,0.000,0.000,1655,1971,3138,3072,3205,0,0,0,0,0,0,24.18,24.17,24.12
$STATE,2401,end apogee,CONTROL_FINISHED_OK
$STATE,2401,begin climb
$GC,2405,0.84,146.0,1652,1980,3079,3189,74.1,0.0,161,2531,1.38,0.00,121.62,0.000,10246,0.000,0.000,1940,1973,2533,2480,2587,0,0,0,0,0,0,24.18,28.83,24.12
$GC,2822,0.84,146.0,1937,1980,2489,2580,50.6,5.3,183,2824,0.30,0.00,0.00,0.000,4102,0.000,0.000,1904,1976,2540,2487,2594,0,0,0,0,0,0,24.17,28.83,28.83
$GC,3127,0.85,152.7,1904,1979,2489,2593,34.9,4.8,212,3136,0.00,0.00,7.75,0.000,8198,0.000,0.000,1907,1986,2506,2456,2557,0,0,0,0,0,0,28.83,28.83,24.12
$GC,3438,0.86,162.0,1910,1977,2462,2551,19.2,4.7,243,3469,0.00,0.00,24.17,0.000,8198,0.000,0.000,1898,1978,2468,2415,2521,0,0,0,0,1,0,28.83,28.83,24.12
$GC,3776,0.92,211.7,1900,1982,2411,2522,3.7,3.5,276,3810,0.00,0.00,32.10,0.000,8198,0.000,0.000,1897,1976,2263,2220,2307,0,0,0,0,0,0,28.83,28.83,24.14
$STATE,3829,end climb,SURFACE_DEPTH_REACHED
$STATE,3829,begin surface coast
$FINISH,0.0,0.000000
$STATE,3882,end surface coast,CONTROL_FINISHED_OK
$STATE,3882,begin surface
$SM_CCo,3903,55.88,0.000,0,0,1904,300.00
$SM_GC,-0.00,7.97,0.17,55.88,0.000,0.000,0.000,355,2020,1904,-6.28,0.93,300.00,0,0,0,0,0,0,24.18,24.17,24.14
$RAFOS_CLK,13
$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,64.41
$INTERNAL_PRESSURE,15.9869
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.8,0.0
$SC_FREEKB,3927872
$24V_AH,24.0,189.008
$10V_AH,10.5,73.767
$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,16.400,17.550,305.050,55.875,0.000,0.000,0.000,74.175,0.000,0.000,35.741,0.000,2357.067,355.398,1098.257,426.728,33.230,783.482,0.000,876.738,0.000,26.750,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,1498.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.314,0.000,0.000,0.000
$MEM,306876
$DATA_FILE_SIZE,10119,287
$CAP_FILE_SIZE,184729,0
$CFSIZE,260165632,234688512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,2376.65,0x2361c4,2,24
$SOUNDSPEED,1465.0
$GPS,070114,123342,4807.300,-12223.327,22,1.9,29,18.0