version: 66.11
glider: 99
mission: 78
dive: 420
start: 9 16 113 15 55 20
data:
$ID,99
$MISSION,78
$DIVE,420
$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,-1241658.1
$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,39
$R_STBD_OVSHOOT,1
$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
$GPS1,160913,154643,4806.362,-12222.255,30,1.8,36,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,160913,155339,4806.328,-12222.255,13,1.9,18,18.0
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.125,0.102
$KALMAN_X,302739.1,-19446.7,-752.6,-280543.5,3331.9
$KALMAN_Y,-183792.3,10773.4,-12.3,170264.8,-2235.9
$MHEAD_RNG_PITCHd_Wd,291.2,1548,-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,-146.0,336,2062,1667,1734,0.0,0.0,0,96,0.00,0.20,-67.22,0.000,16390,0.000,0.000,336,1991,3711,3631,3792,0,0,0,0,0,0,28.83,24.16,24.18
$GC,104,-0.89,-146.0,336,1992,3655,3782,0.1,-0.6,14,117,5.97,2.65,0.00,0.000,2308,0.000,0.000,1543,3440,3711,3636,3786,0,0,0,0,0,0,24.17,24.17,28.83
$GC,156,-0.89,-146.0,1542,3458,3629,3790,6.6,-19.6,23,163,0.00,2.83,-0.25,0.000,17414,0.000,0.000,1542,1986,3724,3648,3800,0,0,0,0,0,0,28.83,24.16,24.18
$GC,476,-0.89,-146.0,1543,1988,3651,3786,28.3,-6.6,79,480,0.00,2.78,0.00,0.000,260,0.000,0.000,1542,3419,3725,3650,3801,0,0,0,0,0,0,28.83,24.17,28.83
$GC,765,-0.89,-146.0,1560,3432,3645,3803,46.7,-6.4,106,772,0.00,2.78,0.00,0.000,1030,0.000,0.000,1547,1979,3720,3639,3802,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1093,-0.89,-146.0,1542,1972,3641,3790,67.0,-6.0,125,1098,0.00,2.70,0.00,0.000,260,0.000,0.000,1542,3447,3716,3646,3787,0,0,0,0,0,0,28.83,24.16,28.83
$GC,1386,-0.89,-146.0,1543,3444,3661,3802,83.4,-5.8,138,1392,0.00,2.72,0.00,0.000,1030,0.000,0.000,1542,1911,3707,3638,3776,0,0,0,0,0,0,28.83,24.16,28.83
$STATE,1581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1581,begin apogee
$GC,1589,-0.31,0.0,1542,2075,3638,3778,95.1,-4.7,148,1720,0.57,0.20,120.40,0.000,10246,0.000,0.000,1656,1941,3129,3064,3195,0,0,0,0,0,0,24.18,24.17,24.12
$STATE,1721,end apogee,CONTROL_FINISHED_OK
$STATE,1721,begin climb
$GC,1725,0.89,146.0,1658,1939,3080,3199,95.0,0.0,154,1856,1.30,2.70,121.78,0.000,10756,0.000,0.000,1922,476,2535,2484,2587,0,0,0,0,0,0,24.16,24.16,24.12
$GC,2146,0.89,146.0,1920,477,2485,2585,64.3,8.0,174,2150,0.00,2.88,0.00,0.000,1030,0.000,0.000,1921,2005,2534,2479,2589,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2460,0.89,146.0,1923,1999,2497,2586,36.7,8.0,198,2465,0.00,2.67,0.25,0.000,8452,0.000,0.000,1915,3468,2541,2493,2589,0,0,0,0,0,0,28.83,24.17,24.13
$GC,2488,0.89,146.0,1921,3483,2488,2586,34.7,8.2,200,2496,0.00,2.83,0.43,0.000,9222,0.000,0.000,1922,1973,2533,2477,2590,0,0,0,0,0,0,28.83,24.17,24.13
$GC,2822,0.89,146.0,1921,1977,2490,2574,7.6,8.2,250,2828,0.00,2.80,0.00,0.000,260,0.000,0.000,1917,3471,2534,2483,2586,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,2897,end climb,SURFACE_DEPTH_REACHED
$STATE,2897,begin surface coast
$FINISH,0.3,1.183632
$STATE,2928,end surface coast,CONTROL_FINISHED_OK
$STATE,2928,begin surface
$SM_CCo,2954,130.30,0.000,0,0,1699,350.04
$SM_GC,-0.01,8.60,2.80,130.30,0.000,0.000,0.000,230,1970,1699,-6.85,-0.20,350.04,0,0,0,0,0,0,24.17,24.17,24.13
$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,84.69
$INTERNAL_PRESSURE,15.9479
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,71.0,0.0
$SC_FREEKB,3750528
$24V_AH,24.1,117.261
$10V_AH,10.7,50.595
$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,16.450,34.000,242.850,130.300,0.000,0.000,0.000,115.650,0.000,0.000,19.663,987.897,1113.949,432.888,715.352,303.676,33.232,889.076,0.000,532.031,1800.000,27.514,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,0.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2989.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.657,0.000,0.000,0.000
$MEM,310236
$DATA_FILE_SIZE,10171,269
$CAP_FILE_SIZE,78673,0
$CFSIZE,260165632,215928832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,160913,164824,4806.067,-12221.940,9,1.4,18,18.0