version: 66.11
glider: 99
mission: 78
dive: 341
start: 9 13 113 7 57 37
data:
$ID,99
$MISSION,78
$DIVE,341
$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,-1241559.4
$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,59
$R_STBD_OVSHOOT,3
$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
$GPS1,130913,074902,4807.110,-12222.905,14,1.8,19,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,130913,075554,4807.028,-12222.852,19,1.8,26,18.0
$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,564530.3,-157592.9,-129614.2,-276130.2,64797.1
$KALMAN_Y,-335703.5,93557.0,76470.1,164244.5,-38696.1
$MHEAD_RNG_PITCHd_Wd,282.7,191,-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,-146.0,329,2088,1869,1945,0.0,0.0,0,91,0.00,0.22,-60.10,0.000,16390,0.000,0.000,329,1968,3710,3649,3772,0,0,0,0,0,0,28.83,24.17,24.18
$GC,99,-0.84,-146.0,329,1963,3635,3776,0.2,-1.2,13,112,6.12,2.70,-0.32,0.000,18692,0.000,0.000,1542,3484,3734,3655,3813,0,0,0,0,0,0,24.17,24.17,24.18
$GC,399,-0.84,-146.0,1544,3467,3634,3785,25.6,-6.6,68,405,0.00,2.88,0.00,0.000,1030,0.000,0.000,1543,1909,3727,3645,3809,0,0,0,0,0,0,28.83,24.17,28.83
$GC,706,-0.84,-146.0,1541,1914,3637,3796,45.6,-6.8,99,711,0.00,2.80,0.00,0.000,260,0.000,0.000,1542,3411,3715,3640,3790,0,0,0,0,0,0,28.83,24.17,28.83
$GC,760,-0.84,-146.0,1543,3406,3637,3781,49.3,-6.8,104,788,0.00,2.60,-0.08,0.000,17414,0.000,0.000,1544,2040,3706,3629,3784,0,0,0,0,0,0,28.83,24.17,24.18
$GC,1101,-0.84,-146.0,1545,2036,3626,3784,70.2,-6.0,120,1106,0.00,2.62,0.00,0.000,516,0.000,0.000,1542,585,3729,3665,3793,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1410,-0.84,-146.0,1543,586,3644,3784,86.5,-5.7,133,1417,0.00,2.80,-0.03,0.000,17414,0.000,0.000,1543,2066,3719,3651,3787,0,0,0,0,0,0,28.83,24.17,24.14
$STATE,1600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1600,begin apogee
$GC,1609,-0.31,0.0,1542,1891,3660,3793,95.1,-1.5,143,1736,0.68,0.30,119.97,0.000,10246,0.000,0.000,1676,2054,3126,3070,3182,0,0,0,0,0,0,24.17,24.16,24.11
$STATE,1737,end apogee,CONTROL_FINISHED_OK
$STATE,1741,begin climb
$GC,1744,0.84,146.0,1672,2072,3073,3200,89.3,0.0,150,1875,1.15,2.65,120.78,0.000,10500,0.000,0.000,1917,3457,2548,2497,2599,0,0,0,0,0,0,24.16,24.17,24.12
$GC,1904,0.84,146.0,1908,3449,2489,2580,76.6,7.7,158,1910,0.00,2.97,0.12,0.000,9222,0.000,0.000,1911,1907,2532,2483,2582,0,0,0,0,0,0,28.83,24.16,24.13
$GC,2232,0.84,146.0,1895,1910,2491,2588,50.6,7.9,174,2241,0.00,2.92,3.00,0.000,8452,0.000,0.000,1908,3433,2543,2500,2586,0,0,0,0,0,0,28.83,24.17,24.12
$GC,2489,0.84,146.0,1908,3432,2484,2577,31.0,8.0,198,2494,0.00,2.85,0.00,0.000,1030,0.000,0.000,1907,1934,2536,2487,2585,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2829,0.84,146.0,1921,1935,2484,2586,4.9,6.9,251,2835,0.00,2.75,0.00,0.000,260,0.000,0.000,1909,3475,2537,2488,2586,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,2885,end climb,SURFACE_DEPTH_REACHED
$STATE,2885,begin surface coast
$FINISH,-0.0,1.184693
$STATE,2949,end surface coast,CONTROL_FINISHED_OK
$STATE,2949,begin surface
$SM_CCo,2973,98.62,0.000,0,0,1904,300.98
$SM_GC,-0.00,8.02,2.88,98.62,0.000,0.000,0.000,342,1949,1904,-6.34,-0.06,300.98,0,0,0,0,0,0,24.17,24.17,24.13
$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,0.020972,0.020972
$HUMID,82.28
$INTERNAL_PRESSURE,15.9772
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.2,0.0
$SC_FREEKB,3778272
$24V_AH,24.1,108.515
$10V_AH,10.7,48.192
$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,15.975,34.800,243.875,98.625,0.000,0.000,0.000,108.200,0.000,0.000,27.728,946.305,1173.431,397.329,721.261,302.888,33.219,850.802,0.000,519.815,1800.000,26.819,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,0.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2997.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.673,0.000,0.000,0.000
$MEM,310132
$DATA_FILE_SIZE,10178,273
$CAP_FILE_SIZE,78760,0
$CFSIZE,260165632,220643328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,130913,085025,4806.784,-12222.616,9,1.6,15,18.0