version: 66.11
glider: 99
mission: 78
dive: 535
start: 9 21 113 4 55 19
data:
$ID,99
$MISSION,78
$DIVE,535
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,30
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$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,400
$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,-1241804.9
$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,41
$R_STBD_OVSHOOT,9
$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
$GPS1,210913,044719,4805.216,-12221.010,20,1.9,25,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,210913,045340,4805.211,-12221.008,16,1.7,23,18.0
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.200,0.166
$KALMAN_X,293152.6,83.8,-42.7,-289685.8,65.3
$KALMAN_Y,-180059.5,-148.2,26.7,175363.1,113.7
$MHEAD_RNG_PITCHd_Wd,291.7,6353,-18.3,-10.000,-21.02,2236
$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,24,-1.32,-146.0,331,2004,1467,1524,0.0,0.0,0,101,0.00,0.00,-74.25,0.000,16390,0.000,0.000,330,2005,3702,3626,3778,0,0,0,0,0,0,28.83,28.83,24.18
$GC,108,-1.32,-146.0,331,2004,3656,3780,0.8,-3.2,15,122,5.62,2.70,-0.05,0.000,18692,0.000,0.000,1461,3477,3721,3642,3800,0,0,0,0,0,0,24.16,24.17,24.16
$GC,297,-1.32,-146.0,1456,3467,3645,3773,35.9,-16.4,44,302,0.20,2.80,0.00,0.000,5126,0.000,0.000,1410,1933,3710,3634,3787,0,0,0,0,0,0,24.17,24.17,28.83
$GC,611,-1.32,-146.0,1412,1939,3636,3804,84.7,-14.9,64,614,0.20,0.00,-0.30,0.000,18438,0.000,0.000,1430,1944,3721,3655,3787,0,0,0,0,0,0,24.16,28.83,24.18
$STATE,653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,653,begin apogee
$GC,662,-0.31,0.0,1428,2053,3641,3784,90.4,-14.7,66,793,1.08,0.15,118.90,0.000,10246,0.000,0.000,1659,2019,3138,3076,3200,0,0,0,0,0,0,24.17,24.17,24.11
$STATE,794,end apogee,CONTROL_FINISHED_OK
$STATE,794,begin climb
$GC,799,1.32,146.0,1660,2020,3079,3197,94.8,0.0,73,933,1.85,2.70,122.20,0.000,11012,0.000,0.000,2012,3389,2541,2490,2592,0,0,0,0,0,0,24.17,24.16,24.12
$GC,998,1.49,280.8,2011,3400,2480,2584,93.6,3.8,83,1123,0.08,2.70,112.00,0.000,11270,0.000,0.000,2026,1962,1984,1946,2022,0,0,0,0,0,0,24.17,24.17,24.12
$GC,1446,1.49,280.8,2025,1958,1954,2029,48.1,11.3,105,1452,0.05,0.00,0.00,0.000,2054,0.000,0.000,2023,1950,1987,1949,2025,0,0,0,0,0,0,24.15,28.83,28.83
$GC,1755,1.49,280.8,2027,1957,1951,2033,12.9,11.0,146,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1960,1989,1950,2029,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1868,end climb,SURFACE_DEPTH_REACHED
$STATE,1868,begin surface coast
$FINISH,0.0,1.186615
$STATE,1895,end surface coast,CONTROL_FINISHED_OK
$STATE,1895,begin surface
$SM_CCo,1919,77.12,0.000,0,0,1496,400.08
$SM_GC,-0.01,8.80,0.15,77.12,0.000,0.000,0.000,332,1986,1496,-6.38,0.23,400.08,0,0,0,0,0,0,24.17,24.16,24.14
$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,82.64
$INTERNAL_PRESSURE,15.8405
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,66.6,0.0
$SC_FREEKB,3711328
$24V_AH,24.1,130.794
$10V_AH,10.7,53.930
$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,17.875,11.600,353.100,77.125,0.000,0.000,0.000,95.450,0.000,0.000,24.749,502.441,736.774,471.550,467.072,251.319,33.227,791.882,0.000,313.770,0.000,24.092,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,1930.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.655,0.000,0.000,0.000
$MEM,310156
$DATA_FILE_SIZE,6842,173
$CAP_FILE_SIZE,47362,0
$CFSIZE,260165632,209559552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,210913,053020,4805.348,-12221.218,19,1.8,24,18.0