version: 66.11
glider: 99
mission: 78
dive: 649
start: 9 25 113 17 13 3
data:
$ID,99
$MISSION,78
$DIVE,649
$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,67
$T_MISSION,80
$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,8
$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,-1241953.4
$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,47
$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
$DEVICE1,133
$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
$GPS1,250913,170434,4806.959,-12223.263,12,1.8,18,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,250913,171124,4806.957,-12223.254,11,1.4,19,18.0
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.075,0.203
$KALMAN_X,286439.1,-180.8,16.3,-285537.5,7.2
$KALMAN_Y,-179426.2,44.8,-194.3,177990.6,-168.6
$MHEAD_RNG_PITCHd_Wd,321.7,2141,-11.0,-5.970,-15.41,3713
$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,-0.87,-146.0,339,1947,1467,1525,0.0,0.0,0,101,0.00,0.17,-73.95,0.000,16390,0.000,0.000,339,2023,3706,3632,3781,0,0,0,0,0,0,28.83,24.17,24.18
$GC,110,-0.87,-146.0,339,2020,3627,3779,1.5,-1.6,15,123,6.07,2.65,-0.22,0.000,18692,0.000,0.000,1544,3515,3729,3645,3814,0,0,0,0,0,0,24.17,24.16,24.18
$GC,400,-0.87,-146.0,1560,3534,3637,3777,32.4,-8.8,62,407,0.00,2.85,0.00,0.000,1030,0.000,0.000,1541,1988,3723,3655,3792,0,0,0,0,0,0,28.83,24.17,28.83
$GC,708,-0.87,-146.0,1542,1991,3640,3792,58.7,-8.6,88,713,0.00,2.70,0.00,0.000,260,0.000,0.000,1544,3422,3719,3643,3795,0,0,0,0,0,0,28.83,24.17,28.83
$GC,719,-0.87,-146.0,1543,3405,3632,3792,58.7,-8.6,88,724,0.00,2.62,0.00,0.000,1030,0.000,0.000,1542,2024,3726,3639,3813,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1033,-0.87,-146.0,1545,2027,3642,3788,87.7,-8.8,104,1035,0.00,0.00,-0.03,0.000,16390,0.000,0.000,1544,2025,3718,3659,3778,0,0,0,0,0,0,28.83,28.83,24.13
$STATE,1197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1197,begin apogee
$GC,1205,-0.31,0.0,1543,2024,3638,3786,100.8,-7.9,112,1334,0.57,0.00,118.00,0.000,10246,0.000,0.000,1656,2025,3143,3091,3196,0,0,0,0,0,0,24.17,28.83,24.12
$STATE,1335,end apogee,CONTROL_FINISHED_OK
$STATE,1336,begin climb
$GC,1339,0.87,146.0,1658,2024,3069,3213,102.5,0.0,119,1471,1.30,0.00,124.68,0.000,10758,0.000,0.000,1924,2024,2529,2482,2576,0,0,0,0,0,0,24.17,28.83,24.11
$GC,1773,0.87,146.0,1922,2023,2480,2581,73.8,7.2,141,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,2024,2528,2473,2583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2077,0.87,146.0,1917,2038,2477,2576,51.8,7.2,156,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,2028,2527,2479,2575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2374,0.87,146.0,1912,2024,2477,2583,30.6,6.8,184,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,2028,2532,2482,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2690,0.91,177.5,1918,2022,2474,2569,11.9,5.1,237,2742,0.00,2.67,42.10,0.000,8708,0.000,0.000,1920,589,2406,2361,2451,0,0,0,0,1,0,28.83,24.16,24.11
$STATE,2888,end climb,SURFACE_DEPTH_REACHED
$STATE,2888,begin surface coast
$FINISH,1.2,1.199100
$STATE,2905,end surface coast,CONTROL_FINISHED_OK
$STATE,2905,begin surface
$SM_CCo,2931,141.88,0.000,0,0,1494,400.33
$SM_GC,-0.01,8.20,2.72,141.88,0.000,0.000,0.000,341,2060,1494,-6.34,0.42,400.33,0,0,0,0,0,0,24.16,24.16,24.13
$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,82.88
$INTERNAL_PRESSURE,15.9772
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,75.5,0.0
$SC_FREEKB,3673728
$24V_AH,24.1,144.563
$10V_AH,10.7,57.084
$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,16.150,16.575,284.775,141.875,0.000,0.000,0.000,105.775,0.000,0.000,20.508,716.287,1419.164,490.142,628.705,278.421,33.252,863.010,0.000,452.562,0.000,28.591,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2958.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.675,0.000,0.000,0.000
$MEM,310224
$DATA_FILE_SIZE,10140,278
$CAP_FILE_SIZE,59352,0
$CFSIZE,260165632,203550720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$GPS,250913,180607,4807.153,-12223.307,23,2.0,30,18.0