version: 66.07
glider: 99
mission: 63
dive: 154
start: 9 27 109 19 44 20
data:
$ID,99
$MISSION,63
$DIVE,154
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$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,150
$T_MISSION,190
$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,250
$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,-821389
$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,45
$R_STBD_OVSHOOT,66
$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
$GPS1,194002,6644.743,-5747.335,23,1.1,23,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,194359,6644.743,-5747.335,32,1.1,32,18.0
$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,249.7,128783,-18.1,-10.000
$D_GRID,634
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.32,-146.0,0.0,0.0,0,71,0.00,0.00,-53.65,0.000,6,0.000,0.000,340,2215,3350,0,0,0,0,0,0
$GC,75,-1.32,-146.0,5.1,-26.3,11,89,10.23,0.00,0.00,0.000,6,0.000,0.000,2400,2224,3356,0,0,0,0,0,0
$GC,156,-1.32,-146.0,22.8,-10.9,24,157,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2221,3354,0,0,0,0,0,0
$GC,347,-1.32,-146.0,43.0,-10.3,42,348,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2219,3357,0,0,0,0,0,0
$GC,539,-1.32,-146.0,62.2,-9.8,60,541,0.20,0.00,0.00,0.000,6,0.000,0.000,2356,2223,3357,0,0,0,0,0,0
$GC,857,-1.32,-146.0,99.0,-11.3,90,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2221,3360,0,0,0,0,0,0
$GC,1175,-1.32,-146.0,134.7,-11.1,120,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2218,3360,0,0,0,0,0,0
$GC,1496,-1.32,-146.0,169.8,-10.8,150,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2223,3356,0,0,0,0,0,0
$GC,1813,-1.32,-146.0,204.5,-10.7,180,1817,0.00,2.50,0.00,0.000,4,0.000,0.000,2357,3700,3356,0,0,3,0,0,0
$GC,1834,-1.32,-146.0,206.9,-11.1,181,1839,0.00,2.65,0.00,0.000,6,0.000,0.000,2354,2093,3356,0,0,1,0,0,0
$GC,2158,-1.32,-146.0,241.8,-10.9,212,2166,0.20,2.70,0.00,0.000,4,0.000,0.000,2396,3615,3355,0,0,1,0,0,0
$GC,2189,-1.32,-146.0,244.7,-9.4,214,2194,0.00,2.72,0.00,0.000,6,0.000,0.000,2389,2114,3358,0,0,1,0,0,0
$GC,2513,-1.32,-146.0,274.1,-9.0,245,2518,0.25,2.75,0.00,0.000,4,0.000,0.000,2355,3629,3350,0,0,0,0,0,0
$GC,2541,-1.32,-146.0,277.0,-10.6,247,2546,0.00,2.60,0.00,0.000,6,0.000,0.000,2346,2173,3351,0,0,0,0,0,0
$GC,2865,-1.32,-146.0,312.3,-10.8,277,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2169,3361,0,0,0,0,0,0
$GC,3183,-1.32,-146.0,346.9,-10.9,307,3188,0.00,2.58,0.00,0.000,4,0.000,0.000,2348,3608,3359,0,0,0,0,0,0
$GC,3205,-1.32,-146.0,349.3,-10.5,308,3211,0.28,2.58,0.00,0.000,6,0.000,0.000,2378,2162,3356,0,0,1,0,0,0
$GC,3530,-1.32,-146.0,379.4,-9.2,339,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2165,3353,0,0,0,0,0,0
$GC,3849,-1.32,-146.0,408.8,-9.2,369,3853,0.00,2.72,0.00,0.000,4,0.000,0.000,2390,3713,3363,0,0,0,0,0,0
$GC,3876,-1.32,-146.0,411.3,-9.3,371,3881,0.00,2.62,0.00,0.000,6,0.000,0.000,2384,2149,3360,0,0,0,0,0,0
$GC,4202,-1.32,-146.0,441.2,-9.3,401,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2154,3359,0,0,0,0,0,0
$STATE,4305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4305,begin apogee
$GC,4312,-0.31,0.0,450.9,9.1,411,4462,1.15,0.00,146.05,0.001,6,0.000,0.000,2620,2327,2752,0,0,0,0,0,0
$STATE,4465,end apogee,CONTROL_FINISHED_OK
$STATE,4465,begin climb
$GC,4468,1.32,146.0,453.1,0.0,426,4616,1.60,0.00,143.18,0.001,6,0.000,0.000,2965,2331,2153,0,0,0,0,0,0
$GC,4933,1.32,146.0,386.2,15.9,471,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2328,2150,0,0,0,0,0,0
$GC,5253,1.32,146.0,335.6,15.8,501,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2326,2151,0,0,0,0,0,0
$GC,5572,1.32,146.0,285.0,16.0,531,5574,0.25,0.00,0.00,0.000,6,0.000,0.000,2922,2322,2148,0,0,0,0,0,0
$GC,5889,1.32,146.0,242.7,13.1,561,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2325,2156,0,0,0,0,0,0
$GC,6209,1.32,146.0,200.8,13.2,591,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2326,2149,0,0,0,0,0,0
$GC,6527,1.32,146.0,159.1,13.0,621,6529,0.20,0.00,0.00,0.000,6,0.000,0.000,2981,2326,2147,0,0,0,0,0,0
$GC,6844,1.32,146.0,105.7,17.0,651,6846,0.32,0.00,0.00,0.000,6,0.000,0.000,2923,2322,2155,0,0,0,0,0,0
$GC,7162,1.32,146.0,64.3,12.7,681,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2327,2156,0,0,0,0,0,0
$GC,7485,1.32,146.0,25.5,11.6,711,7489,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2326,2150,0,0,0,0,0,0
$GC,7692,1.32,146.0,2.8,10.7,744,7697,0.10,0.00,0.00,0.000,6,0.000,0.000,3006,2333,2149,0,0,0,0,0,0
$STATE,7700,end climb,SURFACE_DEPTH_REACHED
$STATE,7700,begin surface coast
$FINISH,-0.0,1.026174
$STATE,7718,end surface coast,CONTROL_FINISHED_OK
$STATE,7719,begin surface
$SM_CCo,7743,67.10,0.001,0,0,1730,250.70
$SM_GC,-0.00,0.00,0.00,67.10,0.000,0.000,0.001,351,2197,1730,-10.66,-0.90,250.70
$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,1078972248
$INTERNAL_PRESSURE,15.9576
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.6,999.0
$24V_AH,24.1,82.520
$10V_AH,10.7,22.433
$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,28.000,26.975,289.225,67.100,0.000,0.000,0.000,80.619,9.750,0.000,34.810,1238.193,5401.540,443.107,701.592,271.235,0.000,998.746,0.000,569.556,2160.000,53.715,0.000
$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,600.929,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129576
$DATA_FILE_SIZE,22123,749
$CAP_FILE_SIZE,81231,0
$CFSIZE,260165632,247447552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,6,7,0,0
$SOUNDSPEED,1471.4
$GPS,270909,215536,6644.404,-5749.968,5,1.1,5,18.0