version: 66.11
glider: 99
mission: 78
dive: 651
start: 9 25 113 19 17 6
data:
$ID,99
$MISSION,78
$DIVE,651
$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,-1241955.9
$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,2
$R_STBD_OVSHOOT,6
$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
$GPS1,250913,190833,4807.357,-12223.380,33,1.9,39,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,250913,191527,4807.360,-12223.368,30,1.4,36,18.0
$SPEED_LIMITS,0.060,0.217
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.132,0.172
$KALMAN_X,286809.6,-129.3,15.1,-286103.4,166.9
$KALMAN_Y,-179936.7,-3.4,-203.7,179304.3,-154.8
$MHEAD_RNG_PITCHd_Wd,304.4,1420,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.87,-146.0,341,1975,1465,1526,0.0,0.0,0,105,0.00,0.15,-74.07,0.000,16390,0.000,0.000,341,2068,3704,3637,3772,0,0,0,0,0,0,28.83,24.17,24.18
$GC,114,-0.87,-146.0,341,2066,3644,3770,1.7,-2.3,16,127,6.12,2.53,-0.35,0.000,18692,0.000,0.000,1551,3473,3719,3648,3790,0,0,0,0,0,0,24.17,24.16,24.18
$GC,410,-0.87,-146.0,1551,3484,3649,3786,30.6,-9.2,66,415,0.00,2.88,0.00,0.000,1030,0.000,0.000,1550,1965,3716,3642,3790,0,0,0,0,0,0,28.83,24.17,28.83
$GC,734,-0.87,-146.0,1550,1957,3658,3784,59.6,-9.5,93,738,0.00,2.80,0.00,0.000,260,0.000,0.000,1550,3437,3717,3643,3791,0,0,0,0,0,0,28.83,24.17,28.83
$GC,872,-0.87,-146.0,1552,3431,3633,3781,70.9,-9.0,99,878,0.00,2.65,0.00,0.000,1030,0.000,0.000,1552,1998,3717,3647,3788,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1179,-0.87,-146.0,1546,2004,3642,3774,98.9,-8.6,115,1181,0.00,0.00,-0.05,0.000,16390,0.000,0.000,1552,2001,3720,3644,3797,0,0,0,0,0,0,28.83,28.83,24.15
$STATE,1199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1199,begin apogee
$GC,1208,-0.31,0.0,1551,2016,3637,3793,100.7,-8.6,116,1340,0.60,0.00,119.65,0.000,10246,0.000,0.000,1657,2002,3149,3076,3223,0,0,0,0,0,0,24.17,28.83,24.12
$STATE,1341,end apogee,CONTROL_FINISHED_OK
$STATE,1341,begin climb
$GC,1346,0.87,146.0,1656,2001,3085,3204,106.0,0.0,123,1477,1.27,0.00,123.85,0.000,10246,0.000,0.000,1899,2004,2533,2485,2581,0,0,0,0,0,0,24.17,28.83,24.12
$GC,1779,0.87,146.0,1897,2001,2479,2581,78.5,7.2,145,1784,0.00,2.75,0.00,0.000,260,0.000,0.000,1894,3480,2533,2484,2582,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1827,0.87,146.0,1899,3476,2490,2584,74.8,7.7,147,1832,0.00,2.75,0.00,0.000,1030,0.000,0.000,1896,1933,2535,2484,2586,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2146,0.87,146.0,1897,1937,2484,2586,50.3,7.4,163,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,1939,2539,2492,2587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2446,0.87,146.0,1896,1937,2494,2580,29.6,7.1,192,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,1938,2535,2486,2584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2752,0.88,160.4,1924,1936,2487,2580,12.1,5.6,245,2789,0.00,0.00,28.33,0.000,8198,0.000,0.000,1910,1940,2488,2431,2546,0,0,0,0,1,0,28.83,28.83,24.11
$STATE,2936,end climb,SURFACE_DEPTH_REACHED
$STATE,2936,begin surface coast
$FINISH,0.4,1.173043
$STATE,2975,end surface coast,CONTROL_FINISHED_OK
$STATE,2975,begin surface
$SM_CCo,2998,153.18,0.000,0,0,1494,400.08
$SM_GC,-0.01,8.02,0.22,153.18,0.000,0.000,0.000,337,2044,1494,-6.27,-0.08,400.08,0,0,0,0,0,0,24.16,24.16,24.13
$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,83.31
$INTERNAL_PRESSURE,15.9869
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,76.3,0.0
$SC_FREEKB,3673056
$24V_AH,24.1,144.821
$10V_AH,10.7,57.144
$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,16.025,17.000,271.825,153.175,0.000,0.000,0.000,97.425,0.000,0.000,37.431,783.543,1382.660,498.351,667.401,284.507,33.243,879.777,0.000,482.185,360.000,27.738,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,0.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3031.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.673,0.000,0.000,0.000
$MEM,310176
$DATA_FILE_SIZE,10140,286
$CAP_FILE_SIZE,63022,0
$CFSIZE,260165632,203440128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$GPS,250913,201137,4807.562,-12223.541,35,1.6,39,18.0