version: 66.07
glider: 99
mission: 63
dive: 161
start: 9 28 109 11 46 12
data:
$ID,99
$MISSION,63
$DIVE,161
$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,-821546.56
$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,51
$R_STBD_OVSHOOT,58
$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
$GPS1,114201,6642.050,-5805.500,11,1.1,11,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-70.0
$GPS2,114550,6642.050,-5805.500,26,1.1,26,18.0
$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,252.0,115377,-18.1,-10.000
$D_GRID,641
$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,15,-1.32,-146.0,0.0,0.0,0,71,0.00,0.00,-53.47,0.000,6,0.000,0.000,318,2192,3344,0,0,0,0,0,0
$GC,74,-1.32,-146.0,4.9,-25.5,11,89,10.02,0.00,0.00,0.000,6,0.000,0.000,2386,2198,3341,2,0,0,0,0,0
$GC,156,-1.32,-146.0,22.8,-11.4,24,157,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2194,3340,0,0,0,0,0,0
$GC,347,-1.32,-146.0,43.6,-10.8,42,348,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2194,3342,0,0,0,0,0,0
$GC,538,-1.32,-146.0,63.2,-10.1,60,542,0.00,2.55,0.00,0.000,4,0.000,0.000,2385,3532,3340,0,0,0,0,0,0
$GC,560,-1.32,-146.0,65.4,-9.8,61,565,0.00,2.65,0.00,0.000,6,0.000,0.000,2387,2170,3343,0,0,1,0,0,0
$GC,885,-1.32,-146.0,97.0,-9.5,92,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2160,3341,0,0,0,0,0,0
$GC,1203,-1.32,-146.0,127.2,-9.3,122,1208,0.00,2.85,0.00,0.000,4,0.000,0.000,2385,3698,3337,0,0,1,0,0,0
$GC,1231,-1.32,-146.0,129.8,-9.4,124,1236,0.00,2.62,0.00,0.000,6,0.000,0.000,2390,2200,3343,0,0,0,0,0,0
$GC,1555,-1.32,-146.0,159.8,-9.3,154,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2201,3341,0,0,0,0,0,0
$GC,1874,-1.32,-146.0,188.9,-9.0,184,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2204,3341,0,0,0,0,0,0
$GC,2193,-1.32,-146.0,217.9,-9.1,214,2195,0.25,0.00,0.00,0.000,6,0.000,0.000,2348,2205,3338,0,0,0,0,0,0
$GC,2511,-1.32,-146.0,252.3,-11.0,244,2513,0.20,0.00,0.00,0.000,6,0.000,0.000,2386,2205,3340,0,0,0,0,0,0
$GC,2830,-1.32,-146.0,281.4,-8.9,274,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2208,3342,0,0,0,0,0,0
$GC,3149,-1.32,-146.0,310.2,-9.1,304,3153,0.00,2.50,0.00,0.000,4,0.000,0.000,2386,3614,3333,0,0,1,0,0,0
$GC,3171,-1.32,-146.0,312.3,-9.0,305,3176,0.00,2.58,0.00,0.000,6,0.000,0.000,2379,2198,3342,0,0,0,0,0,0
$GC,3496,-1.32,-146.0,341.6,-9.2,336,3498,0.28,0.00,0.00,0.000,6,0.000,0.000,2346,2201,3344,0,0,0,0,0,0
$GC,3814,-1.32,-146.0,376.1,-11.0,366,3816,0.25,0.00,0.00,0.000,6,0.000,0.000,2388,2200,3344,0,0,0,0,0,0
$GC,4133,-1.32,-146.0,405.5,-9.1,396,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2201,3345,0,0,0,0,0,0
$GC,4457,-1.32,-146.0,434.7,-9.3,426,4461,0.00,2.67,0.00,0.000,4,0.000,0.000,2383,3657,3346,0,0,1,0,0,0
$GC,4478,-1.32,-146.0,437.2,-9.0,427,4483,0.00,2.62,0.00,0.000,6,0.000,0.000,2380,2207,3342,0,0,0,0,0,0
$STATE,4620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4620,begin apogee
$GC,4627,-0.31,0.0,450.2,9.1,441,4773,1.15,0.00,142.25,0.001,6,0.000,0.000,2613,2427,2748,0,0,0,0,0,0
$STATE,4776,end apogee,CONTROL_FINISHED_OK
$STATE,4776,begin climb
$GC,4779,1.32,146.0,452.5,0.0,456,4931,1.92,2.12,141.88,0.001,4,0.000,0.000,3015,3641,2151,1,0,1,0,0,0
$GC,4954,1.32,146.0,428.4,19.0,473,4964,0.82,2.50,0.00,0.000,6,0.000,0.000,2900,2199,2156,1,0,1,0,0,0
$GC,5283,1.32,146.0,389.2,11.6,504,5288,0.52,2.75,0.00,0.000,4,0.000,0.000,3006,3671,2154,1,0,2,0,0,0
$GC,5311,1.32,146.0,384.5,18.1,506,5316,0.50,2.35,0.00,0.000,6,0.000,0.000,2918,2321,2154,1,0,0,0,0,0
$GC,5635,1.32,146.0,341.8,13.1,536,5637,0.32,0.00,0.00,0.000,6,0.000,0.000,2956,2324,2147,0,0,0,0,0,0
$GC,5954,1.32,146.0,292.6,15.6,566,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2330,2152,0,0,0,0,0,0
$GC,6276,1.32,146.0,243.4,15.4,596,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2334,2150,0,0,0,0,0,0
$GC,6604,1.32,146.0,193.0,15.3,627,6608,0.00,2.42,0.00,0.000,4,0.000,0.000,2958,939,2154,0,0,2,0,0,0
$GC,6625,1.32,146.0,189.1,15.5,628,6630,0.00,2.55,0.00,0.000,6,0.000,0.000,2954,2389,2157,0,0,1,0,0,0
$GC,6949,1.32,146.0,139.5,15.2,659,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2377,2155,0,0,0,0,0,0
$GC,7270,1.32,146.0,91.6,15.0,689,7275,0.12,2.60,0.00,0.000,4,0.000,0.000,2961,879,2155,0,0,1,0,0,0
$GC,7298,1.32,146.0,87.2,15.2,691,7302,0.00,2.58,0.00,0.000,6,0.000,0.000,2959,2350,2153,0,0,0,0,0,0
$GC,7622,1.32,146.0,40.7,13.8,721,7623,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2344,2154,0,0,0,0,0,0
$GC,7815,1.32,146.0,15.4,12.7,742,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2350,2155,0,0,0,0,0,0
$GC,7888,1.32,146.0,6.7,12.3,755,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2337,2154,0,0,0,0,0,0
$STATE,7930,end climb,SURFACE_DEPTH_REACHED
$STATE,7930,begin surface coast
$FINISH,-0.0,1.026251
$STATE,7949,end surface coast,CONTROL_FINISHED_OK
$STATE,7949,begin surface
$SM_CCo,7973,67.88,0.001,0,0,1728,250.21
$SM_GC,-0.00,0.00,0.00,67.88,0.000,0.000,0.001,308,2104,1728,-10.79,-3.39,250.21
$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,0.031447
$HUMID,1078982571
$INTERNAL_PRESSURE,15.7721
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,426.0,999.0
$24V_AH,24.1,84.225
$10V_AH,10.7,22.703
$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,29.600,41.775,284.125,67.875,0.000,0.000,0.000,80.586,9.750,0.000,26.587,1290.277,5535.691,453.452,719.212,280.931,0.000,1035.346,0.000,595.842,2160.000,55.354,0.000
$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,614.130,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129548
$DATA_FILE_SIZE,22151,766
$CAP_FILE_SIZE,88577,0
$CFSIZE,260165632,247156736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,7,14,0,0
$SOUNDSPEED,1471.3
$GPS,280909,140124,6641.715,-5808.142,11,1.1,11,18.0