version: 66.11
glider: 99
mission: 78
dive: 390
start: 9 15 113 9 53 38
data:
$ID,99
$MISSION,78
$DIVE,390
$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,-1241620.6
$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,35
$R_STBD_OVSHOOT,27
$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
$GPS1,150913,094458,4806.559,-12222.452,19,2.0,24,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,150913,095157,4806.554,-12222.471,21,1.9,27,18.0
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.150,-0.061
$KALMAN_X,278558.9,-1602.7,4783.9,-280148.6,-4388.9
$KALMAN_Y,-167396.5,1627.0,-3027.0,166532.0,2307.2
$MHEAD_RNG_PITCHd_Wd,93.9,1053,-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,23,-0.89,-146.0,340,2067,1668,1735,0.0,0.0,0,96,0.00,0.17,-67.20,0.000,16390,0.000,0.000,340,2000,3707,3630,3784,0,0,0,0,0,0,28.83,24.17,24.18
$GC,104,-0.89,-146.0,340,2008,3631,3790,0.1,-0.3,14,117,6.07,2.60,-0.15,0.000,18948,0.000,0.000,1539,613,3725,3653,3798,0,0,0,0,0,0,24.18,24.17,24.19
$GC,372,-0.89,-146.0,1541,612,3665,3772,21.2,-6.5,65,379,0.00,2.70,-0.12,0.000,17414,0.000,0.000,1540,2040,3708,3632,3784,0,0,0,0,0,0,28.83,24.17,24.18
$GC,686,-0.89,-146.0,1540,2061,3648,3802,41.1,-6.3,101,691,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,2044,3706,3630,3783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,993,-0.89,-146.0,1540,2042,3645,3787,60.5,-6.5,124,995,0.00,0.00,-0.12,0.000,16390,0.000,0.000,1541,2062,3716,3636,3797,0,0,0,0,0,0,28.83,28.83,24.18
$GC,1293,-0.89,-146.0,1545,2045,3649,3785,79.0,-6.2,139,1298,0.00,2.70,-0.05,0.000,16644,0.000,0.000,1543,3510,3719,3641,3797,0,0,0,0,0,0,28.83,24.17,24.16
$GC,1579,-0.89,-146.0,1540,3497,3660,3789,94.7,-4.2,152,1586,0.00,2.83,-0.05,0.000,17414,0.000,0.000,1541,2027,3730,3658,3803,0,0,0,0,0,0,28.83,24.17,24.15
$STATE,1602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1602,begin apogee
$GC,1611,-0.31,0.0,1539,1923,3645,3794,95.3,-2.1,154,1741,0.57,0.25,119.97,0.000,10246,0.000,0.000,1658,2029,3149,3086,3212,0,0,0,0,0,0,24.17,24.17,24.12
$STATE,1742,end apogee,CONTROL_FINISHED_OK
$STATE,1742,begin climb
$GC,1746,0.89,146.0,1659,2019,3075,3211,92.1,0.0,160,1874,1.62,0.00,122.97,0.000,10246,0.000,0.000,1978,2021,2536,2490,2583,0,0,0,0,0,0,24.16,28.83,24.11
$GC,2165,0.89,146.0,1985,2022,2486,2592,57.0,8.7,182,2171,0.45,2.72,0.00,0.000,4612,0.001,0.000,1913,521,2537,2492,2582,0,0,0,0,0,0,24.17,24.17,28.83
$GC,2446,0.89,146.0,1936,522,2486,2590,34.5,7.8,204,2453,0.00,2.65,0.00,0.000,1030,0.000,0.000,1911,1997,2538,2493,2584,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2759,0.89,146.0,1911,1995,2483,2620,10.8,7.6,253,2765,0.00,0.00,0.10,0.000,8198,0.000,0.000,1906,2000,2540,2490,2591,0,0,0,0,0,0,28.83,28.83,24.13
$STATE,2878,end climb,SURFACE_DEPTH_REACHED
$STATE,2878,begin surface coast
$FINISH,0.5,1.187472
$STATE,2904,end surface coast,CONTROL_FINISHED_OK
$STATE,2904,begin surface
$SM_CCo,2926,130.43,0.000,0,0,1703,350.29
$SM_GC,-0.00,8.00,0.00,130.43,0.000,0.000,0.000,335,2006,1703,-6.31,-0.11,350.29,0,0,0,0,0,0,24.17,28.83,24.13
$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,0.021721,0.021721
$HUMID,84.17
$INTERNAL_PRESSURE,15.8698
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.4,0.0
$SC_FREEKB,3760960
$24V_AH,24.1,113.892
$10V_AH,10.7,49.684
$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,16.725,16.975,243.050,130.425,0.000,0.000,0.000,111.200,0.000,0.000,28.669,839.870,1277.637,444.950,686.903,279.962,33.231,856.297,0.000,504.853,0.000,23.951,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2964.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.704,0.000,0.000,0.000
$MEM,310204
$DATA_FILE_SIZE,10176,281
$CAP_FILE_SIZE,63687,0
$CFSIZE,260165632,217726976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,150913,104628,4806.287,-12222.144,27,1.6,33,18.0