version: 66.11
glider: 99
mission: 78
dive: 413
start: 9 16 113 8 55 36
data:
$ID,99
$MISSION,78
$DIVE,413
$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,-1241649.4
$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,20
$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
$GPS1,160913,084538,4807.848,-12223.762,28,2.0,35,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,160913,085357,4807.842,-12223.755,27,1.9,34,18.0
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.126,-0.102
$KALMAN_X,266474.2,11747.1,3025.7,-281187.4,-4020.2
$KALMAN_Y,-162658.2,-6028.9,-1570.6,170339.9,2492.3
$MHEAD_RNG_PITCHd_Wd,111.2,1817,-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,-146.0,339,1792,1667,1734,0.0,0.0,0,95,0.00,0.55,-67.35,0.000,16390,0.000,0.000,339,2105,3713,3635,3792,0,0,0,0,0,0,28.83,24.16,24.18
$GC,104,-0.89,-146.0,339,2092,3647,3800,0.1,-0.7,14,116,5.95,2.40,0.00,0.000,2308,0.000,0.000,1528,3415,3705,3633,3778,0,0,0,0,0,0,24.17,24.17,28.83
$GC,187,-0.89,-146.0,1526,3422,3660,3780,11.0,-8.8,29,194,0.00,2.62,0.00,0.000,1030,0.000,0.000,1528,2000,3705,3628,3782,0,0,0,0,0,0,28.83,24.17,28.83
$GC,506,-0.89,-146.0,1526,2005,3639,3774,35.7,-7.3,77,511,0.00,2.70,0.00,0.000,516,0.000,0.000,1526,506,3715,3652,3778,0,0,0,0,0,0,28.83,24.16,28.83
$GC,786,-0.89,-146.0,1525,507,3631,3786,55.2,-7.3,100,793,0.00,2.88,-0.05,0.000,17414,0.000,0.000,1534,2010,3707,3633,3781,0,0,0,0,0,0,28.83,24.17,24.17
$GC,1092,-0.89,-146.0,1524,2008,3662,3795,78.9,-7.4,116,1098,0.00,2.72,-0.12,0.000,16900,0.000,0.000,1529,524,3720,3639,3801,0,0,0,0,0,0,28.83,24.17,24.18
$STATE,1342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1342,begin apogee
$GC,1353,-0.31,0.0,1529,2080,3664,3787,95.1,-4.7,128,1480,0.70,0.30,118.07,0.000,10246,0.000,0.000,1667,1923,3143,3076,3211,0,0,0,0,0,0,24.17,24.16,24.12
$STATE,1482,end apogee,CONTROL_FINISHED_OK
$STATE,1482,begin climb
$GC,1486,0.89,146.0,1667,1924,3074,3192,94.2,0.0,134,1620,1.25,2.78,122.50,0.000,10500,0.000,0.000,1918,3405,2537,2488,2587,0,0,0,0,0,0,24.16,24.17,24.11
$GC,1894,0.89,146.0,1941,3401,2488,2601,56.4,9.4,155,1899,0.00,2.62,0.35,0.000,9222,0.000,0.000,1915,1955,2542,2488,2597,0,0,0,0,0,0,28.83,24.17,24.13
$GC,2203,0.89,146.0,1918,1954,2493,2588,27.9,8.7,182,2208,0.00,2.72,0.00,0.000,260,0.000,0.000,1918,3513,2540,2486,2594,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2487,0.89,146.0,1932,3479,2487,2586,2.9,8.4,234,2493,0.00,2.72,0.00,0.000,1030,0.000,0.000,1915,1987,2545,2492,2599,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,2498,end climb,SURFACE_DEPTH_REACHED
$STATE,2499,begin surface coast
$FINISH,0.5,1.181029
$STATE,2520,end surface coast,CONTROL_FINISHED_OK
$STATE,2520,begin surface
$SM_CCo,2543,130.88,0.000,0,0,1699,350.04
$SM_GC,-0.00,8.00,0.00,130.88,0.000,0.000,0.000,350,1986,1699,-6.30,-0.37,350.04,0,0,0,0,0,0,24.16,28.83,24.13
$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,0.02247,0.02247
$HUMID,84.49
$INTERNAL_PRESSURE,15.9186
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.0,0.0
$SC_FREEKB,3752992
$24V_AH,24.1,116.442
$10V_AH,10.7,50.382
$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,15.900,28.275,240.925,130.875,0.000,0.000,0.000,141.725,0.000,0.000,35.820,798.919,975.385,430.296,704.540,313.707,33.236,883.561,0.000,477.789,0.000,23.998,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2581.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.701,0.000,0.000,0.000
$MEM,310140
$DATA_FILE_SIZE,6833,240
$CAP_FILE_SIZE,65160,0
$CFSIZE,260165632,216354816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,160913,094158,4808.095,-12223.942,21,1.9,29,18.0