version: 66.11
glider: 99
mission: 78
dive: 344
start: 9 13 113 11 2 49
data:
$ID,99
$MISSION,78
$DIVE,344
$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,-1241563.1
$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,9
$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
$GPS1,130913,105417,4806.081,-12221.981,17,1.6,23,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,130913,110106,4806.064,-12221.957,11,1.7,22,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.134,0.081
$KALMAN_X,850999.5,-536398.9,-37571.1,-273315.9,97544.1
$KALMAN_Y,-504257.8,315606.9,22005.1,162594.9,-57785.8
$MHEAD_RNG_PITCHd_Wd,283.0,2160,-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,-146.0,339,2109,1869,1944,0.0,0.0,0,90,0.00,0.28,-60.40,0.000,16390,0.000,0.000,339,2001,3701,3624,3778,0,0,0,0,0,0,28.83,24.18,24.18
$GC,98,-0.84,-146.0,339,2002,3618,3772,0.2,-1.1,13,112,6.10,2.65,-0.30,0.000,18948,0.000,0.000,1553,513,3728,3653,3804,0,0,0,0,0,0,24.17,24.17,24.19
$GC,395,-0.84,-146.0,1550,513,3654,3787,24.8,-7.0,69,402,0.00,2.92,-0.05,0.000,17414,0.000,0.000,1550,2105,3710,3624,3797,0,0,0,0,0,0,28.83,24.17,24.18
$GC,701,-0.84,-146.0,1549,2098,3639,3791,45.1,-6.5,100,711,0.00,3.00,-0.25,0.000,16900,0.000,0.000,1549,519,3732,3650,3814,0,0,0,0,0,0,28.83,24.16,24.18
$GC,989,-0.84,-146.0,1551,518,3653,3784,62.9,-6.2,118,994,0.00,2.88,0.00,0.000,1030,0.000,0.000,1549,2080,3723,3653,3793,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1313,-0.84,-146.0,1547,2072,3665,3800,84.1,-5.9,134,1318,0.00,2.97,0.00,0.000,516,0.000,0.000,1549,486,3719,3645,3793,0,0,0,0,0,0,28.83,24.16,28.83
$STATE,1522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1522,begin apogee
$GC,1534,-0.31,0.0,1551,2012,3655,3808,95.0,-3.9,144,1662,0.55,0.28,119.93,0.000,10246,0.000,0.000,1645,1905,3133,3068,3199,0,0,0,0,0,0,24.17,24.17,24.12
$STATE,1663,end apogee,CONTROL_FINISHED_OK
$STATE,1664,begin climb
$GC,1667,0.84,146.0,1645,1903,3088,3195,94.6,0.0,150,1803,1.33,2.55,122.22,0.000,11012,0.000,0.000,1922,522,2544,2491,2598,0,0,0,0,0,0,24.17,24.17,24.12
$GC,1900,0.84,146.0,1921,522,2493,2590,77.8,7.5,161,1907,0.20,3.00,0.00,0.000,5126,0.000,0.000,1900,2141,2535,2482,2588,0,0,0,0,0,0,24.17,24.17,28.83
$GC,2207,0.84,146.0,1893,2139,2485,2592,54.3,7.4,177,2212,0.00,2.38,0.15,0.000,8452,0.000,0.000,1901,3471,2554,2514,2594,0,0,0,0,0,0,28.83,24.17,24.13
$GC,2240,0.84,146.0,1907,3473,2497,2591,52.4,7.6,178,2244,0.00,2.80,0.00,0.000,1030,0.000,0.000,1903,1979,2533,2480,2586,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2553,0.84,146.0,1901,1980,2490,2579,30.0,6.9,208,2558,0.00,2.65,0.00,0.000,516,0.000,0.000,1894,512,2541,2490,2592,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2581,0.84,146.0,1900,512,2487,2576,28.3,6.9,210,2587,0.00,2.85,0.00,0.000,1030,0.000,0.000,1899,2077,2539,2495,2583,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2898,0.84,146.0,1905,2077,2493,2585,6.7,6.9,267,2904,0.00,2.58,0.00,0.000,260,0.000,0.000,1897,3484,2537,2485,2589,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2933,0.84,146.0,1897,3471,2485,2581,4.0,6.8,273,2940,0.00,2.75,0.35,0.000,9222,0.000,0.000,1898,1960,2531,2485,2577,0,0,0,0,0,0,28.83,24.17,24.13
$STATE,2965,end climb,SURFACE_DEPTH_REACHED
$STATE,2966,begin surface coast
$FINISH,0.4,1.135843
$STATE,2999,end surface coast,CONTROL_FINISHED_OK
$STATE,2999,begin surface
$SM_CCo,3021,98.03,0.000,0,0,1905,300.74
$SM_GC,-0.00,7.88,0.22,98.03,0.000,0.000,0.000,351,2037,1905,-6.29,0.88,300.74,0,0,0,0,0,0,24.17,24.16,24.13
$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,0.020223,0.020223
$HUMID,82.84
$INTERNAL_PRESSURE,15.9772
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.1,0.0
$SC_FREEKB,3777216
$24V_AH,24.1,108.850
$10V_AH,10.7,48.283
$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,16.050,40.125,242.650,98.025,0.000,0.000,0.000,109.225,0.000,0.000,23.609,886.457,1281.705,411.866,718.234,285.382,33.220,854.780,0.000,535.519,0.000,27.397,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,3050.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.704,0.000,0.000,0.000
$MEM,310216
$DATA_FILE_SIZE,10173,285
$CAP_FILE_SIZE,69215,0
$CFSIZE,260165632,220479488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,130913,115636,4805.733,-12221.633,21,1.7,28,18.0