version: 66.12
glider: 99
mission: 78
dive: 221
start: 1 8 114 17 0 42
data:
$ID,99
$MISSION,78
$DIVE,221
$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,-1250163.1
$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,1
$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
$GPS1,080114,165457,4807.978,-12223.864,11,1.8,20,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,080114,165938,4807.969,-12223.908,33,1.5,38,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.043,0.069
$KALMAN_X,26010.3,-328.5,-164.0,-25909.2,49.2
$KALMAN_Y,4412.8,354.6,-10.9,-4286.5,-204.7
$MHEAD_RNG_PITCHd_Wd,310.3,127,-28.1,-5.026,-31.75,840
$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,-1.79,-28.3,354,2006,578,600,0.0,0.0,0,110,0.00,0.00,-88.72,0.000,16390,0.000,0.000,353,1995,3242,3180,3305,0,0,0,0,0,0,28.83,28.83,24.19
$GC,114,-1.84,-68.0,354,1992,3172,3293,0.1,-0.2,9,133,4.93,2.75,-5.45,0.000,18692,0.000,0.000,1327,3466,3399,3335,3463,0,0,0,0,0,0,24.18,24.18,24.19
$GC,196,-1.84,-68.0,1328,3460,3328,3465,6.1,-10.4,17,201,0.00,2.78,0.00,0.000,1030,0.000,0.000,1328,2015,3408,3335,3481,0,0,0,0,0,0,28.83,24.17,28.83
$GC,507,-1.84,-70.1,1328,2003,3333,3469,21.4,-4.8,48,511,0.00,0.00,0.00,0.000,6,0.000,0.000,1328,2005,3396,3329,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,820,-1.84,-70.1,1328,2003,3324,3482,36.8,-5.7,79,821,0.00,0.00,0.00,0.000,6,0.000,0.000,1329,2009,3388,3338,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1121,-1.84,-70.1,1328,2001,3333,3460,55.3,-6.4,105,1122,0.00,0.00,-0.05,0.000,16390,0.000,0.000,1326,2004,3395,3325,3466,0,0,0,0,0,0,28.83,28.83,24.15
$GC,1422,-1.84,-70.1,1328,2003,3338,3457,73.3,-6.0,120,1423,0.00,0.00,-0.12,0.000,16390,0.000,0.000,1329,2002,3406,3344,3468,0,0,0,0,0,0,28.83,28.83,24.18
$GC,1724,-1.84,-70.1,1328,2004,3337,3468,91.3,-6.3,135,1725,0.00,0.00,-0.10,0.000,16390,0.000,0.000,1329,1999,3403,3332,3475,0,0,0,0,0,0,28.83,28.83,24.18
$GC,2021,-1.93,-146.0,1327,2003,3326,3471,71.3,12.8,150,2034,0.30,0.00,-10.60,0.000,20486,0.000,0.000,1269,2001,3711,3642,3780,0,0,0,0,0,0,24.17,28.83,24.19
$STATE,2262,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2262,begin apogee
$GC,2269,-0.31,0.0,1271,2001,3650,3779,42.3,11.8,165,2392,1.92,0.00,118.20,0.001,10246,0.000,0.000,1640,1993,3132,3075,3190,0,0,0,0,0,0,24.18,28.83,24.12
$STATE,2398,end apogee,CONTROL_FINISHED_OK
$STATE,2398,begin climb
$GC,2401,1.93,146.0,1634,2003,3069,3201,27.6,0.0,178,2534,2.65,0.00,121.82,0.001,10246,0.000,0.000,2167,2001,2558,2500,2617,0,0,0,0,0,0,24.18,28.83,24.13
$GC,2838,1.98,181.5,2176,2003,2487,2583,2.7,0.7,222,2858,0.00,0.00,18.10,0.000,8962,0.000,0.000,2171,2003,2418,2370,2466,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2858,end climb,SURFACE_DEPTH_REACHED
$STATE,2858,begin surface coast
$FINISH,-0.0,-1.177370
$STATE,2885,end surface coast,CONTROL_FINISHED_OK
$STATE,2885,begin surface
$SM_CCo,2906,80.18,0.000,0,0,1907,300.00
$SM_GC,-0.01,9.43,0.00,80.18,0.000,0.000,0.000,347,2000,1907,-6.32,0.11,300.00,0,0,0,0,0,0,24.18,28.83,24.15
$RAFOS_CLK,17
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.061418,0.061418
$HUMID,65.19
$INTERNAL_PRESSURE,15.899
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,71.0,0.0
$SC_FREEKB,3924416
$24V_AH,24.0,189.518
$10V_AH,10.5,74.585
$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,19.225,5.525,258.125,80.175,0.000,0.000,0.000,72.875,0.000,0.000,39.145,0.000,1703.933,348.887,859.956,360.555,33.211,709.998,0.000,695.920,0.000,23.857,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,504.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.147,0.000,0.000,0.000
$MEM,306800
$DATA_FILE_SIZE,6849,227
$CAP_FILE_SIZE,147021,0
$CFSIZE,260165632,233381888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,080114,175117,4808.031,-12223.996,10,1.7,14,18.0