version: 66.11
glider: 99
mission: 78
dive: 345
start: 9 13 113 12 5 31
data:
$ID,99
$MISSION,78
$DIVE,345
$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,-1241564.4
$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,40
$R_STBD_OVSHOOT,1
$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
$GPS1,130913,115636,4805.733,-12221.633,21,1.7,28,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,130913,120349,4805.708,-12221.594,37,1.8,42,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.134,0.082
$KALMAN_X,862086.2,-605647.7,19492.4,-271868.9,80871.7
$KALMAN_Y,-510924.8,356124.4,-11599.6,161750.6,-47937.5
$MHEAD_RNG_PITCHd_Wd,283.3,2958,-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,24,-0.84,-146.0,352,2040,1863,1948,0.0,0.0,0,90,0.00,0.00,-60.53,0.000,16390,0.000,0.000,352,2044,3719,3651,3787,0,0,0,0,0,0,28.83,28.83,24.18
$GC,95,-0.84,-146.0,352,2041,3642,3779,0.2,-0.9,13,107,6.03,0.00,-0.03,0.000,18438,0.000,0.000,1538,2039,3719,3642,3796,0,0,0,0,0,0,24.17,28.83,24.14
$GC,422,-0.84,-146.0,1537,2036,3636,3786,27.2,-6.8,73,427,0.00,2.62,-0.05,0.000,16644,0.000,0.000,1538,3445,3724,3660,3789,0,0,0,0,0,0,28.83,24.17,24.16
$GC,712,-0.84,-146.0,1537,3461,3645,3797,44.5,-6.2,100,719,0.00,2.67,0.00,0.000,1030,0.000,0.000,1538,1978,3713,3644,3783,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1028,-0.84,-146.0,1537,1988,3639,3801,63.7,-6.0,120,1032,0.00,2.55,0.00,0.000,516,0.000,0.000,1536,581,3722,3652,3793,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1324,-0.84,-146.0,1536,580,3643,3796,80.7,-6.2,133,1330,0.00,2.78,0.00,0.000,1030,0.000,0.000,1537,2083,3714,3639,3789,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,1595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1595,begin apogee
$GC,1604,-0.31,0.0,1537,2054,3633,3813,95.2,-2.6,147,1733,0.62,0.25,119.50,0.000,10246,0.000,0.000,1645,1902,3133,3069,3197,0,0,0,0,0,0,24.17,24.17,24.12
$STATE,1734,end apogee,CONTROL_FINISHED_OK
$STATE,1734,begin climb
$GC,1738,0.84,146.0,1646,1900,3059,3191,93.2,0.0,153,1870,1.35,2.78,122.32,0.000,10500,0.000,0.000,1901,3423,2532,2485,2579,0,0,0,0,0,0,24.17,24.17,24.12
$GC,2068,0.84,146.0,1910,3427,2483,2578,67.4,7.4,170,2073,0.00,2.62,0.00,0.000,1030,0.000,0.000,1916,1991,2536,2488,2584,0,0,0,0,0,0,28.83,24.16,28.83
$GC,2387,0.84,146.0,1916,1996,2483,2588,43.8,7.6,189,2392,0.00,2.58,0.00,0.000,516,0.000,0.000,1912,581,2538,2490,2586,0,0,0,0,0,0,28.83,24.16,28.83
$GC,2425,0.84,146.0,1930,581,2488,2585,41.1,7.7,192,2432,0.00,2.70,0.25,0.000,9222,0.000,0.000,1912,2034,2532,2485,2580,0,0,0,0,0,0,28.83,24.17,24.13
$GC,2760,0.84,146.0,1911,2028,2485,2579,15.7,7.2,232,2766,0.00,2.72,0.00,0.000,516,0.000,0.000,1912,626,2536,2486,2587,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2847,0.84,146.0,1911,626,2487,2588,9.2,7.9,248,2854,0.00,2.58,0.00,0.000,1030,0.000,0.000,1911,2012,2534,2485,2584,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,2945,end climb,SURFACE_DEPTH_REACHED
$STATE,2945,begin surface coast
$FINISH,0.4,1.173614
$STATE,2972,end surface coast,CONTROL_FINISHED_OK
$STATE,2972,begin surface
$SM_CCo,2994,98.15,0.000,0,0,1906,301.47
$SM_GC,-0.00,7.97,0.00,98.15,0.000,0.000,0.000,339,2003,1906,-6.29,0.40,301.47,0,0,0,0,0,0,24.17,28.83,24.13
$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,0.02247,0.02247
$HUMID,83.27
$INTERNAL_PRESSURE,15.9869
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.3,0.0
$SC_FREEKB,3776864
$24V_AH,24.1,108.962
$10V_AH,10.7,48.315
$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,15.975,27.050,242.075,98.150,0.000,0.000,0.000,111.650,0.000,0.000,43.577,985.760,1174.623,391.542,732.941,293.964,33.218,840.111,0.000,535.511,1800.000,26.913,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,3029.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.702,0.000,0.000,0.000
$MEM,310164
$DATA_FILE_SIZE,10153,271
$CAP_FILE_SIZE,77153,0
$CFSIZE,260165632,220413952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,130913,125838,4805.452,-12221.252,8,2.0,16,18.0