version: 66.11
glider: 99
mission: 78
dive: 546
start: 9 21 113 13 46 30
data:
$ID,99
$MISSION,78
$DIVE,546
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$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,53
$T_MISSION,65
$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,350
$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,-1241818.6
$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,6
$R_STBD_OVSHOOT,4
$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
$GPS1,210913,133755,4807.062,-12223.119,21,1.6,26,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,210913,134452,4807.072,-12223.120,32,1.5,37,18.0
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.123,0.202
$KALMAN_X,293420.2,84.6,-46.8,-292558.9,-33.8
$KALMAN_Y,-181291.9,-164.4,-123.8,180206.6,32.9
$MHEAD_RNG_PITCHd_Wd,310.7,2034,-14.1,-7.547,-17.71,2951
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.06,-146.0,332,2006,1667,1733,0.0,0.0,0,95,0.00,0.00,-67.40,0.000,16390,0.000,0.000,333,2004,3730,3674,3787,0,0,0,0,0,0,28.83,28.83,24.18
$GC,101,-1.06,-146.0,333,2007,3637,3798,1.6,-1.6,14,113,5.90,2.58,0.00,0.000,2308,0.000,0.000,1503,3464,3722,3643,3801,0,0,0,0,0,0,24.17,24.17,28.83
$GC,152,-1.06,-146.0,1502,3482,3652,3792,8.1,-11.4,23,159,0.00,2.78,0.00,0.000,1030,0.000,0.000,1501,1935,3717,3634,3801,0,0,0,0,0,0,28.83,24.17,28.83
$GC,471,-1.06,-146.0,1502,1932,3664,3802,46.8,-11.9,67,472,0.00,0.00,0.00,0.000,6,0.000,0.000,1500,1933,3720,3642,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,785,-1.06,-146.0,1502,1933,3634,3797,82.0,-11.3,84,787,0.00,0.00,-0.05,0.000,16390,0.000,0.000,1502,1928,3715,3640,3790,0,0,0,0,0,0,28.83,28.83,24.15
$STATE,946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,946,begin apogee
$GC,955,-0.31,0.0,1502,2044,3646,3783,100.5,-11.4,92,1083,0.90,0.17,119.10,0.000,10246,0.000,0.000,1664,1969,3138,3084,3193,0,0,0,0,0,0,24.17,24.17,24.12
$STATE,1085,end apogee,CONTROL_FINISHED_OK
$STATE,1085,begin climb
$GC,1089,1.06,146.0,1660,1975,3067,3198,106.6,0.0,99,1219,1.48,0.00,123.32,0.000,10246,0.000,0.000,1956,1972,2538,2495,2581,0,0,0,0,0,0,24.17,28.83,24.12
$GC,1521,1.06,146.0,1962,1973,2484,2577,72.7,8.6,121,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1971,2532,2480,2585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1825,1.06,146.0,1962,1972,2466,2581,47.1,8.0,137,1831,0.00,0.00,0.08,0.000,8198,0.000,0.000,1960,1973,2533,2488,2579,0,0,0,0,0,0,28.83,28.83,24.13
$GC,2134,1.06,146.0,1959,1969,2488,2611,21.8,8.1,171,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1970,2540,2489,2591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2453,1.18,236.9,1961,1970,2481,2594,2.9,4.4,232,2475,0.00,0.00,20.10,0.000,8706,0.000,0.000,1960,1973,2400,2359,2441,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2476,end climb,SURFACE_DEPTH_REACHED
$STATE,2476,begin surface coast
$FINISH,-0.0,1.013330
$STATE,2524,end surface coast,CONTROL_FINISHED_OK
$STATE,2524,begin surface
$SM_CCo,2547,110.20,0.000,0,0,1700,350.04
$SM_GC,-0.01,8.25,0.15,110.20,0.000,0.000,0.000,338,2055,1700,-6.32,0.34,350.04,0,0,0,0,0,0,24.17,24.16,24.13
$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,15.8502
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,75.3,0.0
$SC_FREEKB,3707808
$24V_AH,24.1,132.259
$10V_AH,10.7,54.204
$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,16.525,5.900,262.600,110.200,0.000,0.000,0.000,104.375,0.000,0.000,38.520,642.476,1213.380,429.225,572.694,267.893,33.249,765.377,0.000,391.301,0.000,32.135,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2571.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.635,0.000,0.000,0.000
$MEM,310148
$DATA_FILE_SIZE,6844,245
$CAP_FILE_SIZE,53776,0
$CFSIZE,260165632,209035264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,210913,143224,4807.328,-12223.444,8,1.4,16,18.0