version: 66.11
glider: 99
mission: 78
dive: 372
start: 9 14 113 15 43 52
data:
$ID,99
$MISSION,78
$DIVE,372
$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,-1241598.1
$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,2
$R_STBD_OVSHOOT,16
$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
$GPS1,140913,153515,4805.846,-12221.854,17,1.7,24,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,140913,154211,4805.850,-12221.878,22,1.7,28,18.0
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.136,0.088
$KALMAN_X,466264.1,-185909.7,1793.9,-279387.6,22640.5
$KALMAN_Y,-277139.5,108414.2,-1236.1,166140.2,-13517.2
$MHEAD_RNG_PITCHd_Wd,285.0,2542,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,24,-0.89,-146.0,345,1913,1668,1733,0.0,0.0,0,96,0.00,0.25,-67.75,0.000,16390,0.000,0.000,345,2072,3722,3658,3786,0,0,0,0,0,0,28.83,24.17,24.18
$GC,104,-0.89,-146.0,345,2058,3630,3791,0.1,-0.6,14,117,6.05,2.88,-0.05,0.000,19204,0.000,0.000,1546,484,3723,3655,3792,0,0,0,0,0,0,24.18,24.17,24.14
$GC,131,-0.89,-146.0,1543,484,3638,3778,3.1,-8.2,18,138,0.00,2.85,0.00,0.000,1030,0.000,0.000,1543,2052,3712,3636,3789,0,0,0,0,0,0,28.83,24.17,28.83
$GC,447,-0.89,-146.0,1544,2052,3651,3778,27.2,-6.7,76,453,0.00,2.85,-0.03,0.000,16900,0.000,0.000,1544,513,3713,3644,3783,0,0,0,0,0,0,28.83,24.17,24.13
$GC,554,-0.89,-146.0,1542,512,3659,3811,34.7,-7.0,86,559,0.00,2.80,0.00,0.000,1030,0.000,0.000,1541,2066,3721,3654,3788,0,0,0,0,0,0,28.83,24.17,28.83
$GC,868,-0.89,-146.0,1544,2065,3633,3785,55.8,-6.7,113,872,0.00,2.80,0.00,0.000,516,0.000,0.000,1543,530,3736,3671,3801,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1149,-0.89,-146.0,1544,530,3663,3791,73.9,-6.8,126,1156,0.00,2.72,0.00,0.000,1030,0.000,0.000,1541,2037,3728,3642,3814,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1457,-0.89,-146.0,1544,2034,3657,3801,94.2,-5.7,142,1462,0.00,2.75,0.00,0.000,516,0.000,0.000,1544,517,3708,3630,3787,0,0,0,0,0,0,28.83,24.16,28.83
$STATE,1497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1497,begin apogee
$GC,1509,-0.31,0.0,1543,2029,3654,3778,95.1,-3.2,144,1637,0.65,0.20,118.68,0.001,10246,0.000,0.000,1658,1990,3138,3082,3194,0,0,0,0,0,0,24.17,24.18,24.12
$STATE,1638,end apogee,CONTROL_FINISHED_OK
$STATE,1638,begin climb
$GC,1643,0.89,146.0,1658,1995,3067,3195,92.8,0.0,150,1776,1.25,2.67,121.65,0.000,11012,0.000,0.000,1922,513,2540,2502,2579,0,0,0,0,0,0,24.17,24.17,24.12
$GC,1903,0.89,146.0,1921,513,2492,2586,73.4,7.8,163,1909,0.00,2.85,0.00,0.000,1030,0.000,0.000,1922,2089,2534,2486,2582,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2227,0.89,146.0,1918,2088,2483,2589,47.0,7.7,180,2232,0.00,2.85,0.00,0.000,516,0.000,0.000,1921,530,2539,2491,2588,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2404,0.89,146.0,1923,530,2485,2585,34.2,7.3,197,2409,0.00,2.80,0.00,0.000,1030,0.000,0.000,1926,2053,2532,2497,2568,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2718,0.89,146.0,1922,2049,2487,2586,12.4,7.1,245,2725,0.00,2.78,0.00,0.000,516,0.000,0.000,1923,530,2537,2486,2589,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2814,0.89,146.0,1922,530,2486,2583,7.2,7.1,258,2821,0.00,2.75,0.00,0.000,1030,0.000,0.000,1916,2039,2552,2494,2611,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,2875,end climb,SURFACE_DEPTH_REACHED
$STATE,2876,begin surface coast
$FINISH,0.3,1.106387
$STATE,2925,end surface coast,CONTROL_FINISHED_OK
$STATE,2925,begin surface
$SM_CCo,2948,130.52,0.000,0,0,1699,350.04
$SM_GC,-0.01,8.05,0.22,130.52,0.000,0.000,0.000,342,1929,1699,-6.28,-0.74,350.04,0,0,0,0,0,0,24.17,24.16,24.13
$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,83.86
$INTERNAL_PRESSURE,15.9283
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,71.0,0.0
$SC_FREEKB,3767264
$24V_AH,24.1,111.785
$10V_AH,10.7,49.143
$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,16.000,40.150,240.325,130.525,0.000,0.000,0.000,108.400,0.000,0.000,28.927,932.704,1165.210,419.510,738.471,292.963,33.237,884.847,0.000,523.168,1080.000,23.935,0.000
$DEVICE_MAMPS,119.000,60.000,0.765,600.000,0.000,0.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2977.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.687,0.000,0.000,0.000
$MEM,310156
$DATA_FILE_SIZE,10168,279
$CAP_FILE_SIZE,74991,0
$CFSIZE,260165632,218763264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,140913,163711,4805.524,-12221.558,32,1.9,40,18.0