version: 66.11
glider: 99
mission: 78
dive: 479
start: 9 19 113 3 37 24
data:
$ID,99
$MISSION,78
$DIVE,479
$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,-1241731.9
$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,37
$R_STBD_OVSHOOT,12
$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
$GPS1,190913,032841,4806.851,-12222.694,11,1.7,17,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-50.0
$GPS2,190913,033543,4806.850,-12222.690,11,1.4,19,18.0
$SPEED_LIMITS,0.053,0.162
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.145,0.071
$KALMAN_X,290566.3,2021.9,-247.2,-290910.7,218.6
$KALMAN_Y,-180952.0,-682.2,283.6,179565.6,-34.4
$MHEAD_RNG_PITCHd_Wd,278.1,472,-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,-146.0,343,1987,1665,1733,0.0,0.0,0,95,0.00,0.00,-67.45,0.000,16390,0.000,0.000,343,1989,3714,3641,3787,0,0,0,0,0,0,28.83,28.83,24.18
$GC,101,-0.89,-146.0,343,1992,3627,3773,0.3,-1.5,14,113,6.05,2.75,0.00,0.000,2564,0.000,0.000,1532,502,3714,3655,3774,0,0,0,0,0,0,24.17,24.17,28.83
$GC,226,-0.89,-146.0,1530,502,3631,3781,13.5,-7.2,37,232,0.00,2.78,0.00,0.000,1030,0.000,0.000,1531,2038,3707,3637,3777,0,0,0,0,0,0,28.83,24.17,28.83
$GC,538,-0.89,-146.0,1530,2038,3650,3794,34.8,-6.2,83,543,0.00,2.50,0.00,0.000,260,0.000,0.000,1530,3428,3715,3637,3794,0,0,0,0,0,0,28.83,24.17,28.83
$GC,605,-0.89,-146.0,1531,3425,3648,3792,39.0,-6.5,89,612,0.00,2.78,0.00,0.000,1030,0.000,0.000,1531,1966,3703,3635,3772,0,0,0,0,0,0,28.83,24.17,28.83
$GC,922,-0.89,-146.0,1532,1967,3642,3760,61.2,-6.9,113,927,0.00,2.80,0.00,0.000,260,0.000,0.000,1531,3453,3709,3636,3783,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1204,-0.89,-146.0,1532,3483,3645,3787,79.2,-6.7,126,1215,0.00,2.72,-0.03,0.000,17414,0.000,0.000,1532,1936,3714,3639,3789,0,0,0,0,0,0,28.83,24.17,24.13
$STATE,1487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1487,begin apogee
$GC,1496,-0.31,0.0,1531,1966,3656,3792,95.1,-2.0,141,1624,0.68,0.15,118.10,0.000,10246,0.000,0.000,1666,2101,3136,3075,3197,0,0,0,0,0,0,24.17,24.16,24.12
$STATE,1625,end apogee,CONTROL_FINISHED_OK
$STATE,1625,begin climb
$GC,1629,0.89,146.0,1667,2107,3085,3188,92.3,0.0,147,1762,1.30,3.05,121.15,0.000,10756,0.000,0.000,1934,469,2542,2490,2595,0,0,0,0,0,0,24.17,24.17,24.12
$GC,2063,0.89,146.0,1935,468,2483,2590,57.8,7.7,168,2071,0.00,2.90,2.10,0.000,9222,0.000,0.000,1931,2036,2539,2490,2589,0,0,0,0,0,0,28.83,24.17,24.12
$GC,2384,0.89,146.0,1932,2036,2485,2585,32.4,7.6,195,2389,0.00,2.72,0.00,0.000,516,0.000,0.000,1930,522,2532,2487,2577,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2694,0.89,146.0,1933,522,2487,2586,9.8,6.6,241,2701,0.00,2.78,0.00,0.000,1030,0.000,0.000,1933,2027,2548,2510,2587,0,0,0,0,0,0,28.83,24.17,28.83
$STATE,2825,end climb,SURFACE_DEPTH_REACHED
$STATE,2825,begin surface coast
$FINISH,-0.0,1.196685
$STATE,2883,end surface coast,CONTROL_FINISHED_OK
$STATE,2883,begin surface
$SM_CCo,2906,130.82,0.000,0,0,1695,350.04
$SM_GC,-0.01,8.20,0.45,130.82,0.000,0.000,0.000,323,1846,1695,-6.36,-4.55,350.04,0,0,0,0,0,0,24.16,24.17,24.13
$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,0.02247,0.02247
$HUMID,83.35
$INTERNAL_PRESSURE,16.026
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,71.0,0.0
$SC_FREEKB,3729952
$24V_AH,24.1,123.801
$10V_AH,10.7,52.397
$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,16.225,28.575,241.350,130.825,0.000,0.000,0.000,116.800,0.000,0.000,20.638,926.047,1143.000,427.850,717.850,297.310,33.272,885.438,0.000,522.960,1080.000,21.301,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,2941.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.691,0.000,0.000,0.000
$MEM,310156
$DATA_FILE_SIZE,10170,276
$CAP_FILE_SIZE,72531,0
$CFSIZE,260165632,212480000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,190913,042937,4807.037,-12222.903,9,1.6,15,18.0