version: 66.11
glider: 99
mission: 78
dive: 292
start: 9 11 113 6 33 34
data:
$ID,99
$MISSION,78
$DIVE,292
$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,-1241495.2
$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,2
$R_STBD_OVSHOOT,3
$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
$DEVICE1,133
$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,16
$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
$GPS1,110913,062450,4807.801,-12223.756,21,1.7,26,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,110913,063154,4807.790,-12223.738,36,1.8,42,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.029,0.135
$KALMAN_X,1708.9,65.5,-246.3,-1391.0,-213.2
$KALMAN_Y,3165.0,701.0,119.7,-4030.9,-119.5
$MHEAD_RNG_PITCHd_Wd,329.8,506,-14.1,-5.026,-20.04,2599
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.00,-97.8,348,2013,1870,1944,0.0,0.0,0,81,0.00,0.05,-54.15,0.000,16390,0.000,0.000,348,1972,3519,3446,3592,0,0,0,0,0,0,28.83,24.16,24.18
$GC,86,-1.06,-146.0,348,1971,3450,3617,0.2,-1.1,11,105,5.93,2.55,-6.47,0.000,18948,0.000,0.000,1506,594,3709,3624,3794,0,0,0,0,0,0,24.17,24.17,24.18
$GC,386,-1.06,-146.0,1507,594,3626,3786,29.1,-7.8,63,392,0.00,2.62,-0.15,0.000,17414,0.000,0.000,1505,2044,3715,3639,3792,0,0,0,0,0,0,28.83,24.17,24.18
$GC,701,-1.06,-146.0,1505,2043,3665,3800,53.3,-7.4,92,705,0.00,2.75,0.00,0.000,516,0.000,0.000,1506,543,3716,3648,3784,0,0,0,0,0,0,28.83,24.17,28.83
$GC,985,-1.06,-146.0,1505,542,3631,3798,73.6,-7.6,105,991,0.00,2.75,0.00,0.000,1030,0.000,0.000,1506,2043,3721,3640,3803,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1289,-1.06,-146.0,1506,2044,3636,3792,95.0,-3.7,121,1295,0.00,2.88,-0.12,0.000,16900,0.000,0.000,1506,536,3716,3643,3789,0,0,0,0,0,0,28.83,24.16,24.18
$STATE,1310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1310,begin apogee
$GC,1322,-0.31,0.0,1508,2102,3636,3792,95.3,-2.3,122,1455,0.75,0.22,120.35,0.000,10246,0.000,0.000,1661,2039,3125,3059,3191,0,0,0,0,0,0,24.18,24.16,24.12
$STATE,1457,end apogee,CONTROL_FINISHED_OK
$STATE,1457,begin climb
$GC,1460,1.06,146.0,1659,2044,3067,3203,90.7,0.0,129,1596,1.58,2.55,121.95,0.000,10500,0.000,0.000,1954,3401,2530,2474,2586,0,0,0,0,0,0,24.17,24.16,24.11
$GC,1872,1.06,146.0,1943,3396,2478,2594,53.2,9.4,149,1876,0.00,2.60,0.00,0.000,1030,0.000,0.000,1953,1994,2538,2488,2588,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2186,1.06,146.0,1953,1993,2488,2576,24.4,8.5,179,2192,0.00,2.58,0.00,0.000,260,0.000,0.000,1950,3393,2535,2486,2584,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,2453,end climb,SURFACE_DEPTH_REACHED
$STATE,2453,begin surface coast
$FINISH,0.7,1.198698
$STATE,2482,end surface coast,CONTROL_FINISHED_OK
$STATE,2482,begin surface
$SM_CCo,2507,98.50,0.000,0,0,1907,300.00
$SM_GC,-0.01,8.43,2.75,98.50,0.000,0.000,0.000,324,1920,1907,-6.42,-1.58,300.00,0,0,0,0,0,0,24.17,24.17,24.14
$RAFOS_CLK,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.021721,0.021721
$HUMID,84.14
$INTERNAL_PRESSURE,15.9576
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.3,0.0
$SC_FREEKB,3795488
$24V_AH,24.1,103.250
$10V_AH,10.7,46.702
$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,16.675,27.675,242.300,98.500,0.000,0.000,0.000,104.750,0.000,0.000,43.369,769.885,1003.332,395.482,660.816,252.495,33.215,795.427,0.000,457.984,0.000,21.102,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,0.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2532.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.667,0.000,0.000,0.000
$MEM,310208
$DATA_FILE_SIZE,6818,236
$CAP_FILE_SIZE,59385,0
$CFSIZE,260165632,223592448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,110913,071859,4808.011,-12224.026,33,2.0,39,18.0