version: 66.11
glider: 99
mission: 78
dive: 312
start: 9 12 113 2 41 31
data:
$ID,99
$MISSION,78
$DIVE,312
$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,-1241523.1
$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,40
$R_STBD_OVSHOOT,1
$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
$GPS1,120913,023348,4807.821,-12223.772,24,1.6,30,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,120913,023949,4807.853,-12223.779,13,1.9,19,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.135,-0.080
$KALMAN_X,-5398446.0,3273843.8,2229983.0,-69126.7,-2694929.8
$KALMAN_Y,3178956.8,-1928330.9,-1313904.5,42040.4,1587995.6
$MHEAD_RNG_PITCHd_Wd,102.5,1851,-10.6,-5.026,-17.76,3323
$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,-0.84,-146.0,349,2021,1868,1944,0.0,0.0,0,91,0.00,0.00,-60.62,0.000,16390,0.000,0.000,349,2019,3729,3656,3803,0,0,0,0,0,0,28.83,28.83,24.18
$GC,96,-0.84,-146.0,349,2017,3644,3784,0.2,-0.8,13,109,6.03,2.58,-0.08,0.000,18692,0.000,0.000,1547,3441,3711,3638,3785,0,0,0,0,0,0,24.17,24.17,24.18
$GC,392,-0.84,-146.0,1545,3449,3650,3783,4.0,-0.9,69,399,0.00,2.65,0.00,0.000,1030,0.000,0.000,1548,2002,3722,3641,3804,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,404,end dive,NO_VERTICAL_VELOCITY
$STATE,404,begin apogee
$GC,412,-0.31,0.0,1547,1991,3626,3825,4.0,0.0,71,529,0.57,0.00,103.47,0.000,10246,0.000,0.000,1654,2001,3131,3066,3197,0,0,0,0,1,0,24.17,28.83,24.12
$STATE,531,end apogee,CONTROL_FINISHED_OK
$STATE,531,begin climb
$GC,535,0.84,146.0,1655,2004,3059,3210,8.0,0.0,93,684,1.25,2.55,134.70,0.000,10756,0.000,0.000,1891,591,2534,2488,2581,0,0,0,0,1,0,24.16,24.17,24.12
$GC,962,1.35,556.5,1916,591,2486,2589,40.0,-7.7,154,1311,0.57,2.70,338.67,0.000,11270,0.000,0.000,2009,2020,857,841,874,0,0,0,0,0,0,24.17,24.17,24.12
$GC,1631,1.84,956.1,2021,2022,841,874,91.0,-7.3,195,1696,0.62,2.80,56.08,0.000,10756,0.000,0.000,2138,528,588,577,599,0,0,0,0,0,0,24.18,24.17,24.12
$GC,1972,1.84,956.1,2136,528,577,599,53.4,17.8,212,1977,0.00,2.75,0.00,0.000,1030,0.000,0.000,2139,2043,588,577,599,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2283,1.84,956.1,2164,2043,578,600,6.4,14.3,254,2289,0.00,2.65,0.00,0.000,516,0.000,0.000,2138,571,588,577,599,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,2315,end climb,SURFACE_DEPTH_REACHED
$STATE,2315,begin surface coast
$FINISH,1.0,1.210177
$STATE,2320,end surface coast,CONTROL_FINISHED_OK
$STATE,2320,begin surface
$SM_CCo,2406,0.00,0.000,0,0,588,622.57
$SM_GC,-0.00,9.18,2.72,0.00,0.000,0.000,0.000,335,2043,588,-6.30,0.14,622.57,0,0,0,0,0,0,24.17,24.17,28.83
$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,84.53
$INTERNAL_PRESSURE,15.9381
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$SC_FREEKB,3788416
$24V_AH,24.1,105.613
$10V_AH,10.7,47.316
$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,18.225,21.400,632.925,0.000,0.000,0.000,0.000,93.775,0.000,0.000,20.616,642.988,723.150,612.808,594.390,246.718,33.240,1053.115,0.000,454.181,0.000,13.196,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,0.000,0.000,0.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2357.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.833,0.000,0.000,0.000
$MEM,310180
$DATA_FILE_SIZE,10176,261
$CAP_FILE_SIZE,55952,0
$CFSIZE,260165632,222412800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$SOUNDSPEED,1465.0
$GPS,120913,032336,4807.803,-12223.876,35,2.0,44,18.0