version: 66.07
glider: 99
mission: 63
dive: 155
start: 9 27 109 21 59 47
data:
$ID,99
$MISSION,63
$DIVE,155
$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,-821416.69
$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,50
$R_STBD_OVSHOOT,70
$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
$GPS1,215536,6644.404,-5749.968,5,1.1,5,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,215926,6644.404,-5749.968,25,1.1,25,18.0
$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,250.0,126833,-18.1,-10.000
$D_GRID,637
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.32,-146.0,0.0,0.0,0,71,0.00,0.00,-53.10,0.000,6,0.000,0.000,331,2194,3343,0,0,0,0,0,0
$GC,74,-1.32,-146.0,5.0,-25.6,11,90,10.25,2.55,0.00,0.000,4,0.000,0.000,2421,3656,3344,0,0,1,0,0,0
$GC,113,-1.32,-146.0,18.1,-13.3,18,118,0.45,2.90,0.00,0.000,6,0.000,0.000,2360,2042,3344,0,0,0,0,0,0
$GC,183,-1.32,-146.0,27.0,-13.3,26,184,0.28,0.00,0.00,0.000,6,0.000,0.000,2395,2052,3349,0,0,0,0,0,0
$GC,374,-1.32,-146.0,46.8,-10.1,44,379,0.00,3.03,0.00,0.000,4,0.000,0.000,2401,3748,3346,0,0,2,0,0,0
$GC,402,-1.32,-146.0,49.6,-9.9,46,408,0.22,2.72,0.00,0.000,6,0.000,0.000,2357,2202,3347,0,0,0,0,0,0
$GC,599,-1.32,-146.0,72.9,-11.9,64,601,0.22,0.00,0.00,0.000,6,0.000,0.000,2388,2202,3346,0,0,0,0,0,0
$GC,918,-1.32,-146.0,103.7,-9.6,94,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2208,3349,0,0,0,0,0,0
$GC,1237,-1.32,-146.0,133.4,-9.2,124,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2203,3348,0,0,0,0,0,0
$GC,1555,-1.32,-146.0,162.8,-9.3,154,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2198,3346,0,0,0,0,0,0
$GC,1874,-1.32,-146.0,191.8,-9.2,184,1879,0.22,2.60,0.00,0.000,4,0.000,0.000,2349,3716,3350,0,0,1,0,0,0
$GC,1895,-1.32,-146.0,194.1,-10.1,185,1901,0.00,2.67,0.00,0.000,6,0.000,0.000,2351,2198,3341,0,0,0,0,0,0
$GC,2220,-1.32,-146.0,229.2,-10.8,216,2222,0.32,0.00,0.00,0.000,6,0.000,0.000,2407,2197,3346,0,0,0,0,0,0
$GC,2539,-1.32,-146.0,255.6,-8.1,246,2541,0.35,0.00,0.00,0.000,6,0.000,0.000,2343,2199,3341,0,0,0,0,0,0
$GC,2857,-1.32,-146.0,289.7,-10.6,276,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2193,3343,0,0,0,0,0,0
$GC,3176,-1.32,-146.0,324.0,-10.8,306,3181,0.10,2.58,0.00,0.000,4,0.000,0.000,2363,3621,3345,0,0,1,0,0,0
$GC,3203,-1.32,-146.0,326.8,-10.0,308,3208,0.00,2.80,0.00,0.000,6,0.000,0.000,2370,2193,3348,0,0,2,0,0,0
$GC,3527,-1.32,-146.0,359.5,-10.2,338,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2185,3343,0,0,0,0,0,0
$GC,3847,-1.32,-146.0,391.5,-10.0,368,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2190,3345,0,0,0,0,0,0
$GC,4165,-1.32,-146.0,423.4,-10.0,398,4169,0.00,2.65,0.00,0.000,4,0.000,0.000,2363,3641,3349,0,0,0,0,0,0
$GC,4186,-1.32,-146.0,425.6,-9.9,399,4191,0.00,2.55,0.00,0.000,6,0.000,0.000,2361,2196,3346,0,0,0,0,0,0
$STATE,4438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4438,begin apogee
$GC,4445,-0.31,0.0,450.5,9.9,423,4593,1.02,0.00,143.73,0.001,6,0.000,0.000,2603,2379,2744,1,0,0,0,0,0
$STATE,4595,end apogee,CONTROL_FINISHED_OK
$STATE,4596,begin climb
$GC,4598,1.32,146.0,453.1,0.0,438,4751,1.80,2.58,141.98,0.001,4,0.000,0.000,2951,3788,2154,0,0,2,0,0,0
$GC,4767,1.32,146.0,434.0,15.2,454,4772,0.00,2.78,0.00,0.000,6,0.000,0.000,2954,2151,2155,0,0,4,0,0,0
$GC,5091,1.32,146.0,383.7,15.7,485,5096,0.00,3.00,0.00,0.000,4,0.000,0.000,2954,3655,2148,0,0,2,0,0,0
$GC,5135,1.32,146.0,376.9,15.9,488,5140,0.00,2.50,0.00,0.000,6,0.000,0.000,2956,2265,2151,0,0,0,0,0,0
$GC,5459,1.32,146.0,326.8,15.7,519,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2261,2154,0,0,0,0,0,0
$GC,5780,1.32,146.0,277.5,15.3,549,5785,0.00,2.53,0.00,0.000,4,0.000,0.000,2960,3639,2159,0,0,0,0,0,0
$GC,5809,1.32,146.0,272.9,15.4,551,5813,0.00,2.35,0.00,0.000,6,0.000,0.000,2956,2306,2147,0,0,0,0,0,0
$GC,6133,1.32,146.0,222.9,15.4,581,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2312,2149,0,0,0,0,0,0
$GC,6453,1.32,146.0,174.0,15.3,611,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2316,2157,0,0,0,0,0,0
$GC,6772,1.32,146.0,125.6,15.3,641,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2312,2155,0,0,0,0,0,0
$GC,7091,1.32,146.0,78.1,15.0,671,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2300,2150,0,0,0,0,0,0
$GC,7410,1.32,146.0,33.0,13.6,701,7411,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2308,2152,0,0,0,0,0,0
$GC,7603,1.32,146.0,8.2,12.0,727,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2310,2155,0,0,0,0,0,0
$STATE,7656,end climb,SURFACE_DEPTH_REACHED
$STATE,7656,begin surface coast
$FINISH,-0.0,1.026182
$STATE,7674,end surface coast,CONTROL_FINISHED_OK
$STATE,7674,begin surface
$SM_CCo,7698,67.47,0.001,0,0,1727,250.21
$SM_GC,-0.00,0.00,0.00,67.47,0.000,0.000,0.001,324,2312,1727,-10.74,2.06,250.21
$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,0.032214
$HUMID,1078978700
$INTERNAL_PRESSURE,15.9186
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.1,999.0
$24V_AH,24.1,82.760
$10V_AH,10.7,22.470
$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,28.575,43.100,285.700,67.475,0.000,0.000,0.000,80.436,9.750,0.000,27.093,1204.356,5389.059,444.863,694.042,272.257,0.000,1009.981,0.000,578.825,360.000,56.032,0.000
$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,591.707,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129552
$DATA_FILE_SIZE,22115,740
$CAP_FILE_SIZE,83724,0
$CFSIZE,260165632,247402496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,15,0,0
$SOUNDSPEED,1471.3
$GPS,280909,001033,6643.990,-5752.478,19,1.1,19,18.0