version: 66.11
glider: 99
mission: 78
dive: 367
start: 9 14 113 10 36 55
data:
$ID,99
$MISSION,78
$DIVE,367
$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,60
$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,350
$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,-1241591.9
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,140913,102829,4807.220,-12223.220,32,1.9,40,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,140913,103516,4807.229,-12223.230,10,1.7,18,18.0
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.139,0.083
$KALMAN_X,420504.7,-127696.7,-14728.8,-277272.2,18152.4
$KALMAN_Y,-249461.2,74560.1,8936.1,164854.5,-11043.4
$MHEAD_RNG_PITCHd_Wd,282.7,511,-11.4,-5.278,-18.04,3368
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-0.89,-146.0,347,1998,1666,1733,0.0,0.0,0,94,0.00,0.00,-67.20,0.000,16390,0.000,0.000,346,2000,3708,3630,3786,0,0,0,0,0,0,28.83,28.83,24.18
$GC,100,-0.89,-146.0,347,2008,3630,3779,0.2,-1.2,14,112,6.00,2.72,0.00,0.000,2564,0.000,0.000,1545,558,3718,3650,3787,0,0,0,0,0,0,24.17,24.17,28.83
$GC,306,-0.89,-146.0,1561,558,3660,3789,19.2,-7.3,53,313,0.00,2.80,-0.08,0.000,17414,0.000,0.000,1546,1985,3713,3635,3791,0,0,0,0,0,0,28.83,24.16,24.18
$GC,625,-0.89,-146.0,1547,1988,3647,3779,40.9,-6.7,92,630,0.00,2.60,-0.05,0.000,16900,0.000,0.000,1546,565,3712,3641,3784,0,0,0,0,0,0,28.83,24.17,24.14
$GC,703,-0.89,-146.0,1546,565,3630,3785,45.9,-6.4,99,710,0.00,2.70,-0.03,0.000,17414,0.000,0.000,1547,2039,3734,3659,3809,0,0,0,0,0,0,28.83,24.17,24.14
$GC,1010,-0.89,-146.0,1542,2044,3640,3785,66.3,-6.6,118,1014,0.00,2.50,0.00,0.000,260,0.000,0.000,1544,3399,3726,3657,3795,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1117,-0.89,-146.0,1543,3402,3638,3795,73.2,-6.6,123,1122,0.00,2.83,0.00,0.000,1030,0.000,0.000,1545,1914,3709,3637,3782,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1441,-0.89,-146.0,1557,1913,3662,3789,92.6,-6.5,139,1446,0.00,2.35,0.00,0.000,516,0.000,0.000,1543,589,3732,3671,3794,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,1521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1521,begin apogee
$GC,1532,-0.31,0.0,1544,2027,3676,3790,95.2,-3.0,143,1661,0.55,0.17,119.03,0.000,10246,0.000,0.000,1637,1968,3146,3068,3225,0,0,0,0,0,0,24.17,24.17,24.12
$STATE,1663,end apogee,CONTROL_FINISHED_OK
$STATE,1663,begin climb
$GC,1666,0.89,146.0,1638,1967,3066,3175,93.0,0.0,149,1801,1.42,2.60,122.32,0.000,10500,0.000,0.000,1922,3450,2528,2478,2578,0,0,0,0,0,0,24.17,24.16,24.12
$GC,1810,0.89,146.0,1925,3453,2495,2587,80.6,8.1,157,1814,0.00,2.67,0.00,0.000,1030,0.000,0.000,1936,2004,2541,2486,2597,0,0,0,0,0,0,28.83,24.16,28.83
$GC,2134,0.89,146.0,1925,2005,2480,2593,55.3,7.7,173,2138,0.00,2.62,0.00,0.000,516,0.000,0.000,1923,583,2531,2477,2585,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2280,0.89,146.0,1951,583,2472,2586,44.0,7.5,183,2285,0.00,2.78,0.00,0.000,1030,0.000,0.000,1921,2032,2547,2493,2601,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2591,0.89,146.0,1946,2031,2489,2587,21.3,7.1,218,2597,0.00,2.50,0.00,0.000,260,0.000,0.000,1925,3405,2533,2485,2582,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2779,0.89,146.0,1934,3412,2509,2590,8.1,6.9,253,2785,0.00,2.78,0.00,0.000,1030,0.000,0.000,1919,1918,2538,2473,2603,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,2869,end climb,SURFACE_DEPTH_REACHED
$STATE,2869,begin surface coast
$FINISH,0.5,1.179506
$STATE,2906,end surface coast,CONTROL_FINISHED_OK
$STATE,2906,begin surface
$SM_CCo,2928,130.38,0.000,0,0,1701,350.04
$SM_GC,-0.01,8.18,0.28,130.38,0.000,0.000,0.000,328,2042,1701,-6.36,0.68,350.04,0,0,0,0,0,0,24.16,24.16,24.13
$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,0.020972,0.020972
$HUMID,83.58
$INTERNAL_PRESSURE,15.9381
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.4,0.0
$SC_FREEKB,3769024
$24V_AH,24.1,111.287
$10V_AH,10.7,48.988
$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,16.150,37.650,241.350,130.375,0.000,0.000,0.000,106.775,0.000,0.000,19.535,815.824,1298.711,440.610,676.632,286.290,33.227,856.277,0.000,505.662,0.000,21.115,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2967.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.706,0.000,0.000,0.000
$MEM,310084
$DATA_FILE_SIZE,10190,277
$CAP_FILE_SIZE,66120,0
$CFSIZE,260165632,219062272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,140913,112936,4806.985,-12222.979,13,1.5,22,18.0