version: 66.07
glider: 99
mission: 63
dive: 159
start: 9 28 109 7 15 23
data:
$ID,99
$MISSION,63
$DIVE,159
$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,-821483.06
$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,74
$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
$GPS1,071132,6642.764,-5800.346,28,1.1,28,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,071502,6642.764,-5800.346,10,1.1,10,18.0
$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,251.3,119160,-18.1,-10.000
$D_GRID,639
$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,-53.40,0.000,6,0.000,0.000,325,2225,3343,0,0,0,0,0,0
$GC,74,-1.32,-146.0,4.9,-25.3,11,89,10.43,0.00,0.00,0.000,6,0.000,0.000,2444,2231,3343,1,0,0,0,0,0
$GC,156,-1.32,-146.0,22.0,-9.0,24,159,0.68,0.00,0.00,0.000,6,0.000,0.000,2340,2226,3338,1,0,0,0,0,0
$GC,347,-1.32,-146.0,47.2,-12.8,42,349,0.35,0.00,0.00,0.000,6,0.000,0.000,2406,2223,3343,0,0,0,0,0,0
$GC,539,-1.32,-146.0,65.5,-9.2,60,541,0.38,0.00,0.00,0.000,6,0.000,0.000,2338,2228,3343,0,0,0,0,0,0
$GC,858,-1.32,-146.0,104.1,-11.8,90,860,0.20,0.00,0.00,0.000,6,0.000,0.000,2381,2226,3341,0,0,0,0,0,0
$GC,1175,-1.32,-146.0,135.7,-9.8,120,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2231,3347,0,0,0,0,0,0
$GC,1494,-1.32,-146.0,166.6,-9.7,150,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2224,3344,0,0,0,0,0,0
$GC,1812,-1.32,-146.0,197.2,-9.5,180,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2229,3346,0,0,0,0,0,0
$GC,2131,-1.32,-146.0,227.5,-9.4,210,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2226,3343,0,0,0,0,0,0
$GC,2450,-1.32,-146.0,257.9,-9.5,240,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2235,3344,0,0,0,0,0,0
$GC,2768,-1.32,-146.0,288.0,-9.4,270,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2224,3340,0,0,0,0,0,0
$GC,3088,-1.32,-146.0,318.2,-9.6,300,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2222,3340,0,0,0,0,0,0
$GC,3406,-1.32,-146.0,348.3,-9.5,330,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2227,3341,0,0,0,0,0,0
$GC,3725,-1.32,-146.0,378.3,-9.3,360,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2225,3337,0,0,0,0,0,0
$GC,4043,-1.32,-146.0,408.3,-9.5,390,4047,0.00,2.47,0.00,0.000,4,0.000,0.000,2380,776,3344,0,0,1,0,0,0
$GC,4065,-1.32,-146.0,410.3,-9.1,391,4070,0.00,2.65,0.00,0.000,6,0.000,0.000,2377,2254,3340,0,0,2,0,0,0
$GC,4390,-1.32,-146.0,440.7,-9.2,422,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2248,3337,0,0,0,0,0,0
$STATE,4498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4498,begin apogee
$GC,4505,-0.31,0.0,450.6,9.3,432,4652,1.15,0.00,142.82,0.001,6,0.000,0.000,2593,2367,2750,0,0,0,0,0,0
$STATE,4655,end apogee,CONTROL_FINISHED_OK
$STATE,4655,begin climb
$GC,4658,1.32,146.0,453.4,0.0,447,4811,2.00,0.00,142.88,0.001,6,0.000,0.000,3012,2376,2155,0,0,0,0,0,0
$GC,5128,1.32,146.0,372.2,19.0,492,5130,0.73,0.00,0.00,0.000,6,0.000,0.000,2922,2371,2148,1,0,0,0,0,0
$GC,5447,1.32,146.0,330.3,13.2,522,5449,0.28,0.00,0.00,0.000,6,0.000,0.000,2961,2369,2155,0,0,0,0,0,0
$GC,5765,1.32,146.0,280.5,15.6,552,5770,0.28,2.62,0.00,0.000,4,0.000,0.000,2920,900,2155,0,0,0,0,0,0
$GC,5793,1.32,146.0,276.8,13.0,554,5798,0.00,2.88,0.00,0.000,6,0.000,0.000,2918,2390,2154,0,0,1,0,0,0
$GC,6117,1.32,146.0,235.0,12.9,584,6119,0.28,0.00,0.00,0.000,6,0.000,0.000,2963,2390,2151,0,0,0,0,0,0
$GC,6436,1.32,146.0,185.5,15.5,614,6441,0.00,2.62,0.00,0.000,4,0.000,0.000,2964,886,2153,0,0,2,0,0,0
$GC,6469,1.32,146.0,180.1,15.5,616,6475,0.30,2.72,0.00,0.000,6,0.000,0.000,2915,2374,2158,0,0,2,0,0,0
$GC,6795,1.32,146.0,138.3,12.7,647,6797,0.20,0.00,0.00,0.000,6,0.000,0.000,2951,2372,2154,0,0,0,0,0,0
$GC,7112,1.32,146.0,90.8,14.9,677,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2373,2153,0,0,0,0,0,0
$GC,7433,1.32,146.0,44.9,13.8,707,7438,0.00,2.65,0.00,0.000,4,0.000,0.000,2960,898,2153,0,0,0,0,0,0
$GC,7461,1.32,146.0,40.7,13.8,709,7466,0.00,2.97,0.00,0.000,6,0.000,0.000,2960,2530,2158,0,0,3,0,0,0
$GC,7660,1.32,146.0,15.0,12.0,730,7665,0.00,3.40,0.00,0.000,4,0.000,0.000,2960,758,2155,0,0,2,0,0,0
$GC,7688,1.32,146.0,11.7,11.7,735,7693,0.00,2.90,0.00,0.000,6,0.000,0.000,2952,2405,2154,0,0,2,0,0,0
$GC,7760,1.32,146.0,3.2,11.9,748,7765,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2384,2149,0,0,0,0,0,0
$STATE,7769,end climb,SURFACE_DEPTH_REACHED
$STATE,7769,begin surface coast
$FINISH,-0.0,1.026196
$STATE,7787,end surface coast,CONTROL_FINISHED_OK
$STATE,7787,begin surface
$SM_CCo,7812,67.28,0.001,0,0,1735,250.45
$SM_GC,-0.00,0.00,0.00,67.28,0.000,0.000,0.001,328,2226,1735,-10.73,-0.11,250.45
$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,1078964506
$INTERNAL_PRESSURE,15.7916
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.8,999.0
$24V_AH,24.1,83.746
$10V_AH,10.7,22.627
$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,30.375,28.475,285.700,67.275,0.000,0.000,0.000,80.751,9.750,0.000,12.463,1267.367,5441.088,440.344,671.653,277.105,0.000,993.931,0.000,562.572,2160.000,53.677,0.000
$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,597.018,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129548
$DATA_FILE_SIZE,22143,753
$CAP_FILE_SIZE,83807,0
$CFSIZE,260165632,247238656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,17,0,0
$SOUNDSPEED,1471.2
$GPS,280909,092811,6642.362,-5802.882,28,1.1,28,18.0