version: 66.12
glider: 99
mission: 78
dive: 227
start: 1 8 114 22 38 4
data:
$ID,99
$MISSION,78
$DIVE,227
$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,-1250170.6
$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,3
$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
$GPS1,080114,223215,4808.083,-12224.141,15,1.9,21,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,080114,223700,4808.054,-12224.130,34,1.7,39,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.023,-0.049
$KALMAN_X,25870.6,-24.2,152.1,-26662.2,71.3
$KALMAN_Y,4615.4,-417.0,-33.2,-3539.8,86.1
$MHEAD_RNG_PITCHd_Wd,136.4,189,-40.1,-5.026,-42.79,432
$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,-2.52,-14.3,341,2004,1868,1942,0.0,0.0,0,66,0.00,0.00,-42.92,0.000,16390,0.000,0.000,341,2001,3205,3130,3281,0,0,0,0,0,0,28.83,28.83,24.19
$GC,73,-2.55,-35.5,341,1995,3161,3263,-0.0,0.0,5,85,4.25,2.78,-2.28,0.000,18948,0.000,0.000,1196,519,3248,3176,3320,0,0,0,0,0,0,24.18,24.18,24.19
$GC,194,-2.55,-35.5,1197,519,3208,3332,7.1,-13.7,17,203,0.28,2.88,-0.40,0.000,21510,0.000,0.000,1159,2039,3258,3191,3326,0,0,0,0,0,0,24.18,24.18,24.19
$GC,507,-2.56,-45.5,1158,2042,3209,3342,12.7,-2.6,48,515,0.00,2.55,-1.45,0.000,16644,0.000,0.000,1158,3428,3300,3234,3366,0,0,0,0,0,0,28.83,24.18,24.19
$GC,526,-2.57,-49.8,1158,3433,3229,3371,13.7,-4.0,50,531,0.00,2.75,-0.47,0.000,17414,0.000,0.000,1158,1897,3315,3249,3382,0,0,0,0,0,0,28.83,24.18,24.19
$GC,838,-2.57,-49.8,1160,1895,3253,3389,34.3,-7.0,81,845,0.00,2.50,-0.03,0.000,16900,0.000,0.000,1159,548,3327,3261,3393,0,0,0,0,0,0,28.83,24.17,24.13
$GC,1133,-2.57,-49.8,1159,548,3252,3398,54.0,-6.6,107,1137,0.00,2.75,0.00,0.000,1030,0.000,0.000,1158,2048,3316,3252,3381,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1451,-2.57,-49.8,1157,2061,3267,3399,74.1,-5.9,123,1455,0.00,2.80,-0.03,0.000,16900,0.000,0.000,1157,557,3334,3264,3404,0,0,0,0,0,0,28.83,24.18,24.13
$GC,1596,-2.57,-49.8,1159,557,3266,3379,82.5,-6.0,130,1600,0.00,2.67,0.00,0.000,1030,0.000,0.000,1157,2003,3320,3253,3387,0,0,0,0,0,0,28.83,24.18,28.83
$GC,1909,-2.65,-118.5,1159,2002,3262,3385,84.6,11.3,146,1925,0.00,2.78,-9.27,0.000,16900,0.000,0.000,1158,541,3609,3544,3674,0,0,0,0,0,0,28.83,24.18,24.19
$GC,2215,-2.69,-146.0,1159,541,3529,3674,39.0,13.6,163,2224,0.25,2.70,-3.72,0.000,21510,0.000,0.000,1122,1998,3705,3630,3780,0,0,0,0,0,0,24.18,24.18,24.19
$STATE,2257,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2257,begin apogee
$GC,2264,-0.31,0.0,1121,2047,3630,3788,32.9,13.0,168,2389,2.75,0.15,118.07,0.001,10246,0.000,0.000,1661,1943,3132,3071,3194,0,0,0,0,0,0,24.18,24.18,24.13
$STATE,2393,end apogee,CONTROL_FINISHED_OK
$STATE,2393,begin climb
$GC,2397,2.69,146.0,1659,1943,3082,3207,17.0,0.0,181,2530,3.35,2.78,118.32,0.001,10500,0.000,0.000,2304,3408,2528,2481,2576,0,0,0,0,1,0,24.18,24.18,24.13
$GC,2726,2.71,162.3,2306,3433,2488,2573,2.8,1.2,213,2744,0.00,2.80,9.85,0.000,9222,0.000,0.000,2310,1954,2473,2424,2522,0,0,0,0,0,0,28.83,24.18,24.14
$GC,3047,2.73,181.8,2300,1941,2427,2519,2.1,0.4,245,3053,0.00,0.00,4.43,0.000,8706,0.000,0.000,2298,1945,2444,2399,2490,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3054,end climb,SURFACE_DEPTH_REACHED
$STATE,3054,begin surface coast
$STATE,3230,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3230,begin surface
$SM_CCo,3257,83.60,0.000,0,0,1902,300.25
$SM_GC,-0.01,9.98,0.32,83.60,0.000,0.000,0.000,338,2044,1902,-6.36,1.19,300.25,0,0,0,0,0,0,24.18,24.17,24.14
$RAFOS_CLK,47
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.044191,0.044191
$HUMID,66.42
$INTERNAL_PRESSURE,15.7819
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.5,0.0
$SC_FREEKB,3923648
$24V_AH,24.0,189.706
$10V_AH,10.5,74.760
$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,20.850,33.450,250.675,83.600,0.000,0.000,0.000,72.025,0.000,0.000,41.097,0.000,1773.725,362.666,1073.324,418.034,33.205,798.317,0.000,890.315,0.000,23.858,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2404.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.148,0.000,0.000,0.000
$MEM,306920
$DATA_FILE_SIZE,6826,264
$CAP_FILE_SIZE,178104,0
$CFSIZE,260165632,233066496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$GPS,080114,233457,4808.098,-12224.068,28,1.6,37,18.0