version: 66.11
glider: 99
mission: 78
dive: 310
start: 9 12 113 1 13 47
data:
$ID,99
$MISSION,78
$DIVE,310
$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,-1241520.6
$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,3
$R_STBD_OVSHOOT,11
$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
$GPS1,120913,010443,0.000,0.000,21,1.7,31,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,120913,011204,0.000,0.000,26,2.0,31,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.746,0.542
$KALMAN_X,13633489.0,-3237174.8,-1314427.6,-124858.8,4794980.5
$KALMAN_Y,-8033090.5,1907263.6,774222.8,74461.3,-2824933.0
$MHEAD_RNG_PITCHd_Wd,288.0,10536456,10.2,-5.026,-3.12,3359
$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,23,0.46,-146.0,354,1988,1868,1947,0.0,0.0,0,90,0.00,0.00,-60.33,0.000,16390,0.000,0.000,354,1986,3697,3613,3782,0,0,0,0,0,0,28.83,28.83,24.18
$GC,95,0.46,-146.0,354,1989,3659,3774,-0.0,-0.0,13,109,7.57,2.72,-0.05,0.000,18948,0.000,0.000,1849,485,3691,3626,3756,0,0,0,0,0,0,24.17,24.17,24.18
$GC,391,0.46,-146.0,1872,485,3637,3769,9.6,-2.3,69,399,0.30,2.88,-0.08,0.000,21510,0.000,0.000,1798,2062,3724,3642,3806,0,0,0,0,0,0,24.17,24.17,24.18
$GC,710,0.46,-146.0,1824,2061,3657,3815,24.2,-5.4,130,717,0.00,2.80,-0.12,0.000,16900,0.000,0.000,1800,554,3712,3642,3783,0,0,0,0,0,0,28.83,24.17,24.18
$GC,991,0.46,-146.0,1833,554,3628,3793,39.9,-5.3,158,998,0.00,2.78,-0.03,0.000,17414,0.000,0.000,1802,2042,3716,3643,3790,0,0,0,0,0,0,28.83,24.17,24.13
$GC,1308,0.46,-146.0,1802,2041,3632,3788,58.4,-5.9,183,1313,0.00,2.53,-0.05,0.000,16644,0.000,0.000,1801,3406,3719,3652,3786,0,0,0,0,0,0,28.83,24.17,24.15
$GC,1591,0.46,-146.0,1801,3407,3629,3805,73.2,-5.3,196,1597,0.00,2.78,0.00,0.000,1030,0.000,0.000,1801,1944,3713,3632,3794,0,0,0,0,0,0,28.83,24.16,28.83
$GC,1901,0.46,-146.0,1801,1933,3631,3778,90.2,-5.3,212,1906,0.00,2.83,0.00,0.000,260,0.000,0.000,1801,3485,3706,3634,3779,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2180,0.46,-146.0,1799,3494,3635,3779,73.5,14.8,225,2187,0.00,2.80,-0.10,0.000,17414,0.000,0.000,1801,1920,3710,3640,3780,0,0,0,0,0,0,28.83,24.17,24.18
$STATE,2263,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2263,begin apogee
$GC,2272,-0.31,0.0,1800,2027,3656,3784,59.3,14.1,230,2402,0.82,0.22,119.57,0.000,12294,0.000,0.000,1649,1939,3128,3063,3194,0,0,0,0,0,0,24.17,24.16,24.12
$STATE,2403,end apogee,CONTROL_FINISHED_OK
$STATE,2403,begin climb
$GC,2408,-0.46,146.0,1649,1937,3071,3196,42.2,0.0,239,2543,0.28,2.72,121.20,0.000,12804,0.000,0.000,1600,487,2527,2487,2567,0,0,0,0,0,0,24.17,24.17,24.12
$STATE,2734,end climb,SURFACE_DEPTH_REACHED
$STATE,2734,begin surface coast
$FINISH,0.5,1.181330
$STATE,2756,end surface coast,CONTROL_FINISHED_OK
$STATE,2756,begin surface
$SM_CCo,2780,97.85,0.000,0,0,1912,300.00
$SM_GC,-0.00,6.47,2.92,97.85,0.000,0.000,0.000,339,1979,1912,-6.32,-0.57,300.00,0,0,0,0,0,0,24.17,24.17,24.13
$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,82.21
$INTERNAL_PRESSURE,15.9283
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.8,0.0
$SC_FREEKB,3789120
$24V_AH,24.1,105.262
$10V_AH,10.7,47.269
$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,15.450,28.275,240.775,97.850,0.000,0.000,0.000,122.875,0.000,0.000,32.055,905.509,1033.634,397.489,754.940,282.512,33.224,863.573,0.000,555.542,0.000,21.129,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2823.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.795,0.000,0.000,0.000
$MEM,310192
$DATA_FILE_SIZE,10159,295
$CAP_FILE_SIZE,67797,0
$CFSIZE,260165632,222511104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,120913,020320,4807.634,-12223.537,9,2.0,15,18.0