version: 66.11
glider: 99
mission: 78
dive: 332
start: 9 12 113 22 40 38
data:
$ID,99
$MISSION,78
$DIVE,332
$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,-1241548.1
$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,4
$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
$GPS1,120913,223204,4806.520,-12222.384,16,1.9,22,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,120913,223855,4806.480,-12222.387,18,1.5,25,18.0
$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,-1635630.4,1858865.6,12172.3,-233605.8,-193542.3
$KALMAN_Y,960199.6,-1094828.4,-7071.5,139238.7,114274.0
$MHEAD_RNG_PITCHd_Wd,102.4,1226,-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,-146.0,342,1929,1872,1943,0.0,0.0,0,89,0.00,0.32,-60.35,0.000,16390,0.000,0.000,342,2097,3717,3648,3787,0,0,0,0,0,0,28.83,24.17,24.18
$GC,98,-0.84,-146.0,342,2076,3646,3776,0.3,-1.8,13,111,6.07,2.85,-0.08,0.000,18948,0.000,0.000,1547,538,3712,3626,3799,0,0,0,0,0,0,24.17,24.17,24.19
$GC,394,-0.84,-146.0,1546,536,3636,3777,24.5,-5.7,69,401,0.00,2.72,0.00,0.000,1030,0.000,0.000,1549,2040,3704,3631,3778,0,0,0,0,0,0,28.83,24.17,28.83
$GC,700,-0.84,-146.0,1547,2041,3635,3788,43.1,-5.8,100,705,0.00,2.78,-0.25,0.000,16900,0.000,0.000,1545,534,3723,3651,3796,0,0,0,0,0,0,28.83,24.17,24.18
$GC,981,-0.84,-146.0,1546,534,3631,3795,59.1,-6.2,119,988,0.00,2.70,0.00,0.000,1030,0.000,0.000,1547,2019,3717,3642,3793,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1288,-0.84,-146.0,1545,2015,3626,3799,79.1,-6.2,135,1292,0.00,2.67,0.00,0.000,516,0.000,0.000,1546,536,3712,3632,3793,0,0,0,0,0,0,28.83,24.16,28.83
$GC,1573,-0.84,-146.0,1547,535,3631,3781,94.0,-5.1,148,1579,0.00,2.72,0.00,0.000,1030,0.000,0.000,1546,2020,3710,3643,3777,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,1616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1616,begin apogee
$GC,1625,-0.31,0.0,1549,1902,3642,3809,95.0,-1.9,151,1754,0.65,0.25,118.93,0.000,10246,0.000,0.000,1668,2029,3141,3078,3204,0,0,0,0,0,0,24.17,24.17,24.12
$STATE,1756,end apogee,CONTROL_FINISHED_OK
$STATE,1756,begin climb
$GC,1760,0.84,146.0,1669,2026,3069,3204,92.0,0.0,157,1894,1.20,2.58,121.85,0.000,10500,0.000,0.000,1893,3417,2543,2490,2596,0,0,0,0,0,0,24.16,24.17,24.12
$GC,2168,0.84,146.0,1894,3397,2490,2587,60.2,7.5,178,2172,0.00,2.75,0.00,0.000,1030,0.000,0.000,1896,1949,2537,2489,2586,0,0,0,0,0,0,28.83,24.16,28.83
$GC,2477,0.84,146.0,1893,1950,2491,2596,36.7,7.0,202,2487,0.00,2.65,0.70,0.001,8452,0.000,0.000,1896,3370,2541,2489,2593,0,0,0,0,0,0,28.83,24.17,24.14
$GC,2765,0.84,146.0,1897,3374,2484,2591,16.5,7.1,242,2772,0.00,2.70,0.20,0.000,9222,0.000,0.000,1894,1984,2538,2479,2598,0,0,0,0,0,0,28.83,24.17,24.13
$STATE,2972,end climb,SURFACE_DEPTH_REACHED
$STATE,2972,begin surface coast
$FINISH,0.1,1.189114
$STATE,3004,end surface coast,CONTROL_FINISHED_OK
$STATE,3004,begin surface
$SM_CCo,3026,98.72,0.000,0,0,1908,300.25
$SM_GC,-0.00,8.02,0.00,98.72,0.000,0.000,0.000,334,1986,1908,-6.31,-0.48,300.25,0,0,0,0,0,0,24.17,28.83,24.13
$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,81.89
$INTERNAL_PRESSURE,15.9576
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.4,0.0
$SC_FREEKB,3781440
$24V_AH,24.1,107.639
$10V_AH,10.7,47.917
$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,15.950,28.275,241.675,98.725,0.000,0.000,0.000,110.150,0.000,0.000,26.847,930.092,1225.429,401.932,753.935,280.267,33.214,866.425,0.000,560.806,0.000,23.935,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,3063.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.652,0.000,0.000,0.000
$MEM,310200
$DATA_FILE_SIZE,10147,288
$CAP_FILE_SIZE,67869,0
$CFSIZE,260165632,221192192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,120913,233416,4806.771,-12222.651,7,1.5,14,18.0