version: 66.07
glider: 99
mission: 63
dive: 139
start: 9 27 109 7 41 31
data:
$ID,99
$MISSION,63
$DIVE,139
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,1090
$D_NO_BLEED,200
$D_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,30
$T_MISSION,45
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,-2
$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
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$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,-820982.69
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,2657
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.9
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,10
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,3
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,2745
$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,20
$CF8_MAXERRORS,10
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.22403635
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,0
$SEABIRD_T_J,0
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0
$SEABIRD_C_J,0
$GPS1,073753,6646.773,-5736.005,16,1.1,16,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,074111,6646.773,-5736.005,13,1.1,13,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,8000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,248.3,137268,-18.1,-10.000
$D_GRID,649
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.32,-146.0,0.0,0.0,0,79,0.00,0.00,-58.20,0.000,2,0.000,0.000,345,2228,3289,0,0,0,0,0,0
$GC,82,-1.32,-146.0,4.1,-21.1,12,103,10.15,3.05,-1.90,0.000,4,0.000,0.000,2389,733,3350,0,0,3,0,0,0
$GC,120,-1.32,-146.0,16.4,-12.4,19,125,0.00,2.95,0.00,0.000,6,0.000,0.000,2391,2365,3347,0,0,3,0,0,0
$GC,196,-1.32,-146.0,24.8,-10.8,29,197,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2372,3350,0,0,0,0,0,0
$GC,387,-1.32,-146.0,45.3,-10.5,47,392,0.00,3.22,0.00,0.000,4,0.000,0.000,2393,704,3347,0,0,2,0,0,0
$GC,408,-1.32,-146.0,47.6,-10.5,48,414,0.00,2.90,0.00,0.000,6,0.000,0.000,2386,2298,3349,0,0,1,0,0,0
$GC,606,-1.32,-146.0,67.6,-10.1,67,608,0.35,0.00,0.00,0.000,6,0.000,0.000,2347,2309,3345,0,0,0,0,0,0
$STATE,807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,807,begin apogee
$GC,813,-0.31,0.0,90.8,11.5,86,939,1.27,0.00,120.70,0.001,6,0.000,0.000,2613,2303,2746,0,0,0,0,0,0
$STATE,940,end apogee,CONTROL_FINISHED_OK
$STATE,940,begin climb
$GC,942,1.32,146.0,94.1,0.0,99,1076,1.73,2.80,119.75,0.001,4,0.000,0.000,2960,3616,2154,0,0,3,0,0,0
$GC,1103,1.32,146.0,76.8,14.7,114,1109,0.00,2.40,0.00,0.000,6,0.000,0.000,2957,2257,2156,0,0,1,0,0,0
$GC,1428,1.32,146.0,30.9,13.8,145,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2257,2152,0,0,0,0,0,0
$GC,1626,1.32,146.0,5.3,12.3,173,1631,0.00,2.45,0.00,0.000,4,0.000,0.000,2961,3605,2152,0,0,2,0,0,0
$GC,1653,1.32,146.0,2.1,11.8,178,1658,0.00,2.40,0.00,0.000,6,0.000,0.000,2960,2270,2153,0,0,0,0,0,0
$STATE,1661,end climb,SURFACE_DEPTH_REACHED
$STATE,1662,begin surface coast
$FINISH,-0.0,1.026112
$STATE,1680,end surface coast,CONTROL_FINISHED_OK
$STATE,1680,begin surface
$SM_CCo,1704,98.95,0.001,0,0,1525,300.49
$SM_GC,-0.00,0.00,0.00,98.95,0.000,0.000,0.001,311,2037,1525,-10.78,-5.57,300.49
$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,0.031447
$HUMID,1078990089
$INTERNAL_PRESSURE,16.0846
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.4,999.0
$24V_AH,24.1,81.185
$10V_AH,10.7,22.142
$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,26.700,22.550,240.450,98.950,0.000,0.000,0.000,76.247,0.750,0.000,14.521,330.400,908.894,419.435,184.628,165.098,0.000,601.737,0.000,170.089,360.000,5.195,0.000
$DEVICE_MAMPS,119.000,60.000,0.767,0.767,0.000,103.000,0.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,139.326,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129592
$DATA_FILE_SIZE,6468,183
$CAP_FILE_SIZE,31946,0
$CFSIZE,260165632,247861248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$SOUNDSPEED,1468.7
$GPS,270909,081252,6646.668,-5736.483,25,1.1,25,18.0