version: 66.11
glider: 99
mission: 78
dive: 331
start: 9 12 113 21 40 45
data:
$ID,99
$MISSION,78
$DIVE,331
$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,-1241546.9
$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,0
$R_STBD_OVSHOOT,0
$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
$GPS1,120913,213156,4806.263,-12222.137,13,1.5,21,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,120913,213902,4806.227,-12222.132,31,1.8,41,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.101,0.120
$KALMAN_X,-1035745.9,1551815.1,-278631.8,-233208.7,-2534.2
$KALMAN_Y,607428.8,-914500.8,164134.0,138758.4,1994.9
$MHEAD_RNG_PITCHd_Wd,302.1,1789,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-0.84,-146.0,356,2094,1870,1941,0.0,0.0,0,89,0.00,0.17,-60.00,0.000,16390,0.000,0.000,356,1939,3699,3626,3773,0,0,0,0,0,0,28.83,24.17,24.19
$GC,97,-0.84,-146.0,356,1938,3639,3775,0.3,-1.5,13,111,6.00,2.97,-0.62,0.000,18692,0.000,0.000,1547,3562,3712,3638,3786,0,0,0,0,0,0,24.17,24.16,24.18
$GC,392,-0.84,-146.0,1546,3550,3646,3803,24.0,-6.6,69,399,0.00,2.95,-0.08,0.000,17414,0.000,0.000,1546,1922,3742,3666,3819,0,0,0,0,0,0,28.83,24.17,24.18
$GC,709,-0.84,-146.0,1548,1919,3648,3796,44.6,-6.5,101,714,0.00,2.88,-0.03,0.000,16644,0.000,0.000,1546,3456,3714,3641,3788,0,0,0,0,0,0,28.83,24.17,24.13
$GC,991,-0.84,-146.0,1548,3474,3641,3798,62.3,-6.6,118,998,0.00,2.88,-0.05,0.000,17414,0.000,0.000,1547,1950,3715,3642,3789,0,0,0,0,0,0,28.83,24.16,24.16
$GC,1294,-0.84,-146.0,1546,1954,3642,3806,82.7,-6.4,134,1299,0.00,2.80,0.00,0.000,260,0.000,0.000,1546,3463,3734,3652,3817,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,1567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1567,begin apogee
$GC,1578,-0.31,0.0,1547,2040,3644,3783,95.1,-1.7,147,1708,0.62,0.15,119.12,0.000,10246,0.000,0.000,1662,1985,3147,3073,3221,0,0,0,0,0,0,24.17,24.17,24.12
$STATE,1709,end apogee,CONTROL_FINISHED_OK
$STATE,1709,begin climb
$GC,1713,0.84,146.0,1659,1981,3079,3209,89.8,0.0,154,1844,1.15,0.00,123.28,0.000,10758,0.000,0.000,1890,1982,2545,2488,2602,0,0,0,0,0,0,24.17,28.83,24.12
$GC,2146,0.84,146.0,1884,1985,2493,2588,54.3,8.5,176,2151,0.00,2.53,0.00,0.000,516,0.000,0.000,1888,572,2539,2490,2588,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2425,0.84,146.0,1913,571,2498,2582,31.8,7.8,200,2431,0.00,2.78,0.00,0.000,1030,0.000,0.000,1890,2058,2536,2486,2587,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2737,0.84,146.0,1913,2065,2486,2585,8.3,7.8,252,2743,0.00,3.05,0.00,0.000,516,0.000,0.000,1885,427,2534,2483,2585,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,2826,end climb,SURFACE_DEPTH_REACHED
$STATE,2826,begin surface coast
$FINISH,0.2,1.173028
$STATE,2852,end surface coast,CONTROL_FINISHED_OK
$STATE,2852,begin surface
$SM_CCo,2878,98.40,0.000,0,0,1906,300.25
$SM_GC,-0.00,7.88,3.05,98.40,0.000,0.000,0.000,342,2052,1906,-6.29,0.25,300.25,0,0,0,0,0,0,24.17,24.17,24.13
$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,82.36
$INTERNAL_PRESSURE,15.9576
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,71.2,0.0
$SC_FREEKB,3781792
$24V_AH,24.1,107.528
$10V_AH,10.7,47.886
$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,15.650,29.275,242.400,98.400,0.000,0.000,0.000,107.300,0.000,0.000,42.467,863.101,1195.158,411.864,715.933,272.056,33.218,834.300,0.000,513.482,0.000,23.939,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2904.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.676,0.000,0.000,0.000
$MEM,310112
$DATA_FILE_SIZE,10162,274
$CAP_FILE_SIZE,63774,0
$CFSIZE,260165632,221253632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,120913,223204,4806.520,-12222.384,16,1.9,22,18.0