version: 66.11
glider: 99
mission: 78
dive: 414
start: 9 16 113 9 50 29
data:
$ID,99
$MISSION,78
$DIVE,414
$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,-1241650.6
$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,53
$R_STBD_OVSHOOT,15
$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
$GPS1,160913,094158,4808.095,-12223.942,21,1.9,29,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,160913,094851,4808.093,-12223.937,19,1.9,25,18.0
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.115,-0.114
$KALMAN_X,273161.3,4846.3,2546.1,-280709.2,-2588.3
$KALMAN_Y,-165966.8,-2212.4,-1239.3,169958.6,1736.2
$MHEAD_RNG_PITCHd_Wd,116.9,2332,-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,-146.0,351,1985,1667,1734,0.0,0.0,0,95,0.00,0.00,-67.40,0.000,16390,0.000,0.000,351,1985,3695,3617,3773,0,0,0,0,0,0,28.83,28.83,24.18
$GC,100,-0.89,-146.0,350,1982,3619,3776,0.1,-0.5,14,113,6.18,2.72,0.00,0.000,2308,0.000,0.000,1559,3439,3702,3628,3777,0,0,0,0,0,0,24.17,24.17,28.83
$GC,147,-0.89,-146.0,1559,3441,3634,3781,6.2,-23.7,22,154,0.30,2.65,0.00,0.000,5126,0.000,0.000,1501,2027,3697,3623,3771,0,0,0,0,0,0,24.16,24.17,28.83
$GC,464,-0.89,-146.0,1501,2026,3638,3762,30.2,-7.0,76,470,0.17,2.60,-0.25,0.000,18948,0.000,0.000,1516,557,3714,3647,3781,0,0,0,0,0,0,24.16,24.17,24.18
$GC,748,-0.89,-146.0,1519,556,3677,3807,48.2,-6.4,103,755,0.00,2.65,-0.12,0.000,17414,0.000,0.000,1515,2020,3724,3667,3782,0,0,0,0,0,0,28.83,24.16,24.18
$GC,1055,-0.89,-146.0,1518,2013,3635,3799,68.2,-6.2,120,1060,0.00,2.83,0.00,0.000,516,0.000,0.000,1517,493,3705,3630,3781,0,0,0,0,0,0,28.83,24.16,28.83
$GC,1342,-0.89,-146.0,1521,493,3631,3798,85.0,-6.2,133,1348,0.00,2.85,0.00,0.000,1030,0.000,0.000,1517,2069,3715,3642,3789,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,1548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1548,begin apogee
$GC,1557,-0.31,0.0,1518,1947,3658,3806,95.3,-2.4,144,1685,0.75,0.20,118.45,0.000,10246,0.000,0.000,1671,2032,3136,3070,3202,0,0,0,0,0,0,24.17,24.17,24.12
$STATE,1686,end apogee,CONTROL_FINISHED_OK
$STATE,1686,begin climb
$GC,1690,0.89,146.0,1670,2028,3073,3192,93.1,0.0,150,1821,1.27,2.55,123.60,0.000,10500,0.000,0.000,1922,3447,2535,2486,2585,0,0,0,0,0,0,24.17,24.17,24.11
$GC,2096,0.89,146.0,1921,3475,2485,2586,59.9,8.0,171,2100,0.00,2.75,0.00,0.000,1030,0.000,0.000,1931,1940,2537,2487,2587,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2404,0.89,146.0,1919,1943,2498,2580,35.9,7.5,195,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,1940,2537,2493,2581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2709,0.89,146.0,1922,1941,2495,2584,12.8,6.9,240,2716,0.00,2.75,0.00,0.000,260,0.000,0.000,1920,3441,2538,2492,2584,0,0,0,0,0,0,28.83,24.16,28.83
$GC,2852,0.89,146.0,1942,3437,2487,2588,2.2,8.2,267,2858,0.00,2.80,0.00,0.000,1030,0.000,0.000,1923,1909,2539,2488,2590,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,2863,end climb,SURFACE_DEPTH_REACHED
$STATE,2863,begin surface coast
$FINISH,0.4,1.171764
$STATE,2890,end surface coast,CONTROL_FINISHED_OK
$STATE,2890,begin surface
$SM_CCo,2913,129.90,0.000,0,0,1704,350.04
$SM_GC,-0.01,7.97,0.25,129.90,0.000,0.000,0.000,358,2054,1704,-6.27,0.57,350.04,0,0,0,0,0,0,24.16,24.16,24.13
$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,85.08
$INTERNAL_PRESSURE,15.9283
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,70.9,0.0
$SC_FREEKB,3752640
$24V_AH,24.1,116.559
$10V_AH,10.7,50.412
$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,16.650,27.800,242.050,129.900,0.000,0.000,0.000,106.575,0.000,0.000,26.736,874.988,1208.242,445.833,698.589,277.713,33.238,873.795,0.000,512.208,0.000,21.123,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2947.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.657,0.000,0.000,0.000
$MEM,310252
$DATA_FILE_SIZE,10193,274
$CAP_FILE_SIZE,64821,0
$CFSIZE,260165632,216293376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,160913,104248,4807.895,-12223.617,10,1.9,16,18.0