version: 66.11
glider: 99
mission: 78
dive: 336
start: 9 13 113 2 51 15
data:
$ID,99
$MISSION,78
$DIVE,336
$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,-1241553.1
$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,0
$R_STBD_OVSHOOT,24
$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
$GPS1,130913,024213,4807.571,-12223.390,23,1.4,32,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,130913,024932,4807.553,-12223.384,37,1.7,43,18.0
$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,-1358588.2,1214996.9,406138.3,-267251.4,-369498.5
$KALMAN_Y,797866.0,-714902.0,-239383.2,159047.2,217957.6
$MHEAD_RNG_PITCHd_Wd,102.6,1130,-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,-146.0,344,1996,1869,1941,0.0,0.0,0,90,0.00,0.00,-60.30,0.000,16390,0.000,0.000,345,2000,3710,3644,3777,0,0,0,0,0,0,28.83,28.83,24.18
$GC,95,-0.84,-146.0,345,1996,3627,3786,0.3,-1.3,13,108,6.05,2.70,0.00,0.000,2564,0.000,0.000,1534,538,3699,3611,3788,0,0,0,0,0,0,24.17,24.16,28.83
$GC,388,-0.84,-146.0,1552,539,3632,3788,22.9,-6.3,69,395,0.00,2.72,-0.15,0.000,17414,0.000,0.000,1535,2033,3721,3650,3793,0,0,0,0,0,0,28.83,24.17,24.18
$GC,708,-0.84,-146.0,1537,2025,3630,3779,42.1,-5.7,103,713,0.00,2.72,-0.20,0.000,16900,0.000,0.000,1535,530,3716,3635,3798,0,0,0,0,0,0,28.83,24.17,24.18
$GC,991,-0.84,-146.0,1533,530,3650,3787,58.5,-6.1,123,997,0.00,2.72,0.00,0.000,1030,0.000,0.000,1533,2018,3727,3651,3804,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1298,-0.84,-146.0,1533,2019,3636,3805,78.6,-6.2,139,1303,0.00,2.75,0.00,0.000,516,0.000,0.000,1530,549,3722,3650,3794,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1584,-0.84,-146.0,1532,549,3642,3783,94.5,-4.8,152,1592,0.00,2.80,-0.05,0.000,17414,0.000,0.000,1533,2032,3711,3638,3784,0,0,0,0,0,0,28.83,24.17,24.18
$STATE,1606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1606,begin apogee
$GC,1615,-0.31,0.0,1534,1971,3646,3779,95.3,-2.5,154,1744,0.57,0.00,118.62,0.000,10246,0.000,0.000,1649,1957,3140,3079,3201,0,0,0,0,0,0,24.17,28.83,24.12
$STATE,1746,end apogee,CONTROL_FINISHED_OK
$STATE,1746,begin climb
$GC,1750,0.84,146.0,1647,1974,3065,3197,93.0,0.0,160,1885,1.25,2.58,123.07,0.000,10500,0.000,0.000,1917,3381,2535,2486,2584,0,0,0,0,0,0,24.17,24.17,24.11
$GC,2158,0.84,146.0,1920,3364,2485,2582,62.5,7.1,181,2163,0.00,2.80,0.00,0.000,1030,0.000,0.000,1908,1852,2530,2485,2575,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2467,0.84,146.0,1908,1858,2488,2584,40.3,7.5,203,2472,0.00,2.90,0.00,0.000,260,0.000,0.000,1901,3411,2537,2489,2586,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2751,0.84,146.0,1910,3395,2484,2595,19.7,7.3,237,2757,0.00,2.67,0.00,0.000,1030,0.000,0.000,1907,1997,2546,2490,2603,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,3007,end climb,SURFACE_DEPTH_REACHED
$STATE,3008,begin surface coast
$FINISH,0.4,1.188608
$STATE,3041,end surface coast,CONTROL_FINISHED_OK
$STATE,3042,begin surface
$SM_CCo,3063,98.72,0.000,0,0,1908,300.25
$SM_GC,-0.00,8.02,0.00,98.72,0.000,0.000,0.000,333,1998,1908,-6.34,-0.06,300.25,0,0,0,0,0,0,24.17,28.83,24.13
$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,82.68
$INTERNAL_PRESSURE,15.9576
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,71.2,0.0
$SC_FREEKB,3780032
$24V_AH,24.1,107.998
$10V_AH,10.7,48.044
$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,15.900,27.550,241.700,98.725,0.000,0.000,0.000,107.750,0.000,0.000,44.694,964.191,1215.995,398.601,790.452,286.361,33.223,869.370,0.000,574.547,0.000,26.826,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,3105.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.681,0.000,0.000,0.000
$MEM,310212
$DATA_FILE_SIZE,10145,293
$CAP_FILE_SIZE,68817,0
$CFSIZE,260165632,220946432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,130913,034543,4807.804,-12223.706,22,1.7,26,18.0