version: 66.11
glider: 99
mission: 78
dive: 393
start: 9 15 113 12 55 40
data:
$ID,99
$MISSION,78
$DIVE,393
$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,-1241624.4
$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,1
$R_STBD_OVSHOOT,3
$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
$GPS1,150913,124658,4805.765,-12221.554,10,1.8,19,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,150913,125359,4805.757,-12221.562,20,1.7,26,18.0
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.122,0.106
$KALMAN_X,329473.3,-46322.8,-404.3,-279895.2,5031.1
$KALMAN_Y,-198500.0,26945.5,448.5,167280.6,-3642.1
$MHEAD_RNG_PITCHd_Wd,293.1,2909,-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,-146.0,326,2054,1665,1732,0.0,0.0,0,96,0.00,0.12,-67.35,0.000,16390,0.000,0.000,327,1971,3709,3636,3782,0,0,0,0,0,0,28.83,24.17,24.18
$GC,105,-0.89,-146.0,327,1962,3629,3775,0.1,-0.8,14,118,6.07,2.75,-0.03,0.000,18692,0.000,0.000,1548,3481,3715,3636,3795,0,0,0,0,0,0,24.17,24.17,24.14
$GC,402,-0.89,-146.0,1545,3487,3623,3784,23.9,-6.2,70,408,0.00,2.95,0.00,0.000,1030,0.000,0.000,1546,1883,3699,3627,3772,0,0,0,0,0,0,28.83,24.17,28.83
$GC,717,-0.89,-146.0,1547,1878,3635,3785,44.6,-6.4,102,723,0.00,2.97,-0.10,0.000,16644,0.000,0.000,1544,3558,3708,3631,3785,0,0,0,0,0,0,28.83,24.16,24.18
$GC,736,-0.89,-146.0,1546,3542,3641,3794,45.5,-6.5,103,742,0.00,2.85,0.00,0.000,1030,0.000,0.000,1547,1987,3709,3638,3781,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1042,-0.89,-146.0,1545,1985,3630,3782,65.6,-6.5,122,1047,0.00,2.58,-0.03,0.000,16900,0.000,0.000,1544,546,3721,3640,3803,0,0,0,0,0,0,28.83,24.16,24.13
$GC,1080,-0.89,-146.0,1546,547,3643,3795,67.4,-6.7,123,1087,0.00,2.88,0.00,0.000,1030,0.000,0.000,1549,2139,3711,3647,3775,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1387,-0.89,-146.0,1547,2140,3616,3773,87.8,-6.3,139,1392,0.00,2.85,0.00,0.000,516,0.000,0.000,1545,554,3701,3634,3769,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,1531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1531,begin apogee
$GC,1542,-0.31,0.0,1547,2056,3628,3762,95.3,-4.0,146,1670,0.73,0.25,118.28,0.000,10246,0.000,0.000,1679,1981,3130,3064,3196,0,0,0,0,0,0,24.17,24.17,24.11
$STATE,1672,end apogee,CONTROL_FINISHED_OK
$STATE,1672,begin climb
$GC,1676,0.89,146.0,1680,1991,3065,3197,94.4,0.0,152,1810,1.23,2.67,122.05,0.000,10500,0.000,0.000,1931,3398,2534,2490,2578,0,0,0,0,0,0,24.17,24.16,24.12
$GC,1968,0.89,146.0,1933,3409,2490,2583,70.7,8.0,167,1973,0.00,2.72,0.00,0.000,1030,0.000,0.000,1932,1970,2532,2481,2583,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2282,0.89,146.0,1931,1973,2488,2594,44.0,8.0,186,2287,0.00,2.67,0.00,0.000,260,0.000,0.000,1935,3459,2534,2485,2584,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2449,0.89,146.0,1932,3449,2480,2592,30.8,8.0,202,2454,0.00,2.78,0.00,0.000,1030,0.000,0.000,1931,1970,2534,2480,2589,0,0,0,0,0,0,28.83,24.16,28.83
$GC,2764,0.89,146.0,1932,1979,2493,2592,6.9,7.0,256,2770,0.00,2.50,0.00,0.000,516,0.000,0.000,1936,555,2537,2489,2586,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2790,0.89,146.0,1933,555,2496,2587,5.0,7.8,260,2796,0.00,2.70,0.00,0.000,1030,0.000,0.000,1931,2053,2533,2486,2581,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,2831,end climb,SURFACE_DEPTH_REACHED
$STATE,2831,begin surface coast
$FINISH,0.2,1.181425
$STATE,2864,end surface coast,CONTROL_FINISHED_OK
$STATE,2864,begin surface
$SM_CCo,2887,130.27,0.000,0,0,1700,350.04
$SM_GC,-0.01,8.07,0.17,130.27,0.000,0.000,0.000,357,1957,1700,-6.27,-0.14,350.04,0,0,0,0,0,0,24.16,24.16,24.13
$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,0.021721,0.021721
$HUMID,84.29
$INTERNAL_PRESSURE,15.8698
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,71.4,0.0
$SC_FREEKB,3759904
$24V_AH,24.1,114.243
$10V_AH,10.7,49.775
$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,16.100,39.325,240.325,130.275,0.000,0.000,0.000,111.775,0.000,0.000,27.897,820.705,1251.099,442.091,689.068,288.326,33.237,868.195,0.000,492.967,0.000,23.946,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2924.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.688,0.000,0.000,0.000
$MEM,310120
$DATA_FILE_SIZE,10174,274
$CAP_FILE_SIZE,66440,0
$CFSIZE,260165632,217542656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,150913,134802,4805.491,-12221.332,35,1.3,44,18.0