version: 66.11
glider: 99
mission: 78
dive: 360
start: 9 14 113 3 32 54
data:
$ID,99
$MISSION,78
$DIVE,360
$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,65
$T_MISSION,80
$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,-1241583.1
$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,49
$R_STBD_OVSHOOT,2
$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
$GPS1,140913,032227,4807.909,-12223.905,28,1.4,35,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,140913,033053,4807.937,-12223.926,14,2.0,20,18.0
$SPEED_LIMITS,0.049,0.059
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.050,-0.030
$KALMAN_X,-162761.1,362971.5,72596.0,-274003.0,-82911.5
$KALMAN_Y,92990.9,-212191.3,-42945.8,163019.8,48636.0
$MHEAD_RNG_PITCHd_Wd,102.9,2079,-36.7,-4.872,-39.68,500
$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,-2.31,-16.1,340,2004,1866,1940,0.0,0.0,0,70,0.00,0.00,-42.45,0.000,16390,0.000,0.000,339,1998,3177,3105,3250,0,0,0,0,0,0,28.83,28.83,24.18
$GC,75,-2.34,-39.8,340,2004,3108,3228,-0.0,0.0,9,89,4.45,2.70,-3.25,0.000,18692,0.000,0.000,1227,3443,3278,3216,3340,0,0,0,0,0,0,24.17,24.17,24.18
$GC,246,-2.34,-39.8,1227,3443,3198,3336,7.5,-7.2,41,253,0.00,2.75,-0.22,0.000,17414,0.000,0.000,1228,1945,3284,3213,3355,0,0,0,0,0,0,28.83,24.17,24.18
$GC,564,-2.34,-39.8,1227,1941,3218,3334,22.5,-5.0,102,570,0.00,0.00,0.00,0.000,6,0.000,0.000,1227,1944,3289,3231,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,874,-2.34,-39.8,1226,1942,3206,3352,39.0,-5.4,137,881,0.00,0.00,-0.30,0.000,16390,0.000,0.000,1226,1945,3281,3221,3341,0,0,0,0,0,0,28.83,28.83,24.18
$GC,1194,-2.34,-39.8,1226,1942,3225,3354,55.5,-5.1,164,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,1226,1943,3302,3237,3368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1501,-2.34,-39.8,1227,1943,3221,3365,70.9,-5.1,179,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,1226,1949,3280,3214,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1794,-2.34,-39.8,1225,1945,3223,3351,86.3,-5.3,194,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,1227,1945,3289,3217,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2094,-2.44,-122.0,1228,1939,3225,3358,82.0,12.0,209,2112,0.35,0.00,-11.00,0.000,20486,0.000,0.000,1169,1945,3607,3536,3678,0,0,0,0,0,0,24.16,28.83,24.18
$STATE,2411,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2412,begin apogee
$GC,2420,-0.31,0.0,1169,2094,3525,3678,41.2,12.3,228,2527,2.53,0.25,97.57,0.000,10246,0.000,0.000,1652,2017,3145,3080,3210,0,0,0,0,0,0,24.16,24.17,24.12
$STATE,2528,end apogee,CONTROL_FINISHED_OK
$STATE,2528,begin climb
$GC,2532,2.44,122.0,1648,2017,3071,3189,28.1,0.0,239,2644,3.00,0.00,102.88,0.000,10502,0.000,0.000,2253,2017,2633,2579,2688,0,0,0,0,0,0,24.17,28.83,24.12
$STATE,2781,end climb,SURFACE_DEPTH_REACHED
$STATE,2781,begin surface coast
$FINISH,1.2,1.194318
$STATE,2810,end surface coast,CONTROL_FINISHED_OK
$STATE,2810,begin surface
$SM_CCo,2835,113.15,0.000,0,0,1908,300.00
$SM_GC,3.55,9.77,0.08,113.15,0.000,0.000,0.000,343,1952,1908,-6.27,0.06,300.00,0,0,0,0,0,0,24.17,24.16,24.13
$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,0.021721,0.021721
$HUMID,82.88
$INTERNAL_PRESSURE,15.9479
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.9,0.0
$SC_FREEKB,3771488
$24V_AH,24.1,110.529
$10V_AH,10.7,48.778
$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,20.100,6.050,200.450,113.150,0.000,0.000,0.000,151.775,0.000,0.000,21.603,782.015,1396.292,355.484,678.776,314.501,33.225,772.862,0.000,457.922,720.000,26.860,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2885.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.795,0.000,0.000,0.000
$MEM,310152
$DATA_FILE_SIZE,10175,289
$CAP_FILE_SIZE,67439,1
$CFSIZE,260165632,219508736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,140913,042335,4807.921,-12223.831,7,1.9,13,18.0