version: 66.07
glider: 99
mission: 63
dive: 166
start: 9 28 109 23 2 34
data:
$ID,99
$MISSION,63
$DIVE,166
$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,-821706
$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,42
$R_STBD_OVSHOOT,62
$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
$GPS1,225821,6640.144,-5818.198,19,1.1,19,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,230212,6640.144,-5818.198,28,1.1,28,18.0
$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,253.9,106131,-18.1,-10.000
$D_GRID,669
$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,-53.25,0.000,6,0.000,0.000,312,2236,3347,0,0,0,0,0,0
$GC,74,-1.32,-146.0,4.7,-23.7,11,90,10.27,2.53,0.00,0.000,4,0.000,0.000,2418,787,3348,0,0,2,0,0,0
$GC,107,-1.32,-146.0,17.0,-22.7,17,112,0.43,2.90,0.00,0.000,6,0.000,0.000,2344,2454,3347,0,0,3,0,0,0
$GC,178,-1.32,-146.0,26.3,-13.5,26,180,0.47,0.00,0.00,0.000,6,0.000,0.000,2438,2459,3349,1,0,0,0,0,0
$GC,370,-1.32,-146.0,43.2,-8.6,44,376,0.52,3.15,0.00,0.000,4,0.000,0.000,2337,676,3346,0,0,2,0,0,0
$GC,410,-1.32,-146.0,48.3,-13.4,47,415,0.28,2.83,0.00,0.000,6,0.000,0.000,2381,2291,3350,0,0,1,0,0,0
$GC,607,-1.32,-146.0,68.8,-10.1,65,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2296,3346,0,0,0,0,0,0
$GC,930,-1.32,-146.0,100.4,-9.8,95,934,0.00,2.85,0.00,0.000,4,0.000,0.000,2396,702,3345,0,0,1,0,0,0
$GC,950,-1.32,-146.0,102.9,-9.5,96,956,0.00,2.80,0.00,0.000,6,0.000,0.000,2393,2324,3347,0,0,3,0,0,0
$GC,1276,-1.32,-146.0,134.0,-9.5,127,1280,0.00,2.70,0.00,0.000,4,0.000,0.000,2381,797,3342,0,0,0,0,0,0
$GC,1297,-1.32,-146.0,136.1,-9.4,128,1302,0.00,2.62,0.00,0.000,6,0.000,0.000,2384,2290,3350,0,0,1,0,0,0
$GC,1622,-1.32,-146.0,166.5,-9.4,159,1624,0.40,0.00,0.00,0.000,6,0.000,0.000,2281,2289,3347,0,0,0,0,0,0
$GC,1940,-1.32,-146.0,211.0,-14.2,189,1946,0.70,2.67,0.00,0.000,4,0.000,0.000,2392,785,3350,1,0,0,0,0,0
$GC,1974,-1.32,-146.0,214.6,-8.9,191,1979,0.00,2.67,0.00,0.000,6,0.000,0.000,2396,2253,3345,0,0,0,0,0,0
$GC,2298,-1.32,-146.0,243.5,-9.1,222,2300,0.25,0.00,0.00,0.000,6,0.000,0.000,2345,2254,3346,0,0,0,0,0,0
$GC,2617,-1.32,-146.0,277.4,-10.8,252,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2256,3347,0,0,0,0,0,0
$GC,2935,-1.32,-146.0,311.4,-10.6,282,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2250,3347,0,0,0,0,0,0
$GC,3254,-1.32,-146.0,345.5,-10.7,312,3259,0.20,2.70,0.00,0.000,4,0.000,0.000,2407,747,3353,0,0,2,0,0,0
$GC,3282,-1.32,-146.0,348.0,-8.3,314,3288,0.40,2.72,0.00,0.000,6,0.000,0.000,2342,2238,3347,0,0,0,0,0,0
$GC,3607,-1.32,-146.0,383.3,-10.8,344,3609,0.28,0.00,0.00,0.000,6,0.000,0.000,2400,2240,3354,0,0,0,0,0,0
$GC,3926,-1.32,-146.0,410.3,-8.4,374,3928,0.35,0.00,0.00,0.000,6,0.000,0.000,2342,2237,3348,0,0,0,0,0,0
$GC,4244,-1.32,-146.0,444.6,-11.0,404,4246,0.35,0.00,0.00,0.000,6,0.000,0.000,2388,2245,3346,0,0,0,0,0,0
$STATE,4305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4305,begin apogee
$GC,4313,-0.31,0.0,450.6,8.9,410,4461,1.15,0.00,143.75,0.001,6,0.000,0.000,2610,2362,2751,0,0,0,0,0,0
$STATE,4463,end apogee,CONTROL_FINISHED_OK
$STATE,4463,begin climb
$GC,4466,1.32,146.0,452.7,0.0,425,4616,1.75,0.00,142.38,0.001,6,0.000,0.000,3020,2363,2154,0,0,0,0,0,0
$GC,4930,1.32,146.0,371.5,19.2,470,4933,0.52,0.00,0.00,0.000,6,0.000,0.000,2894,2360,2155,1,0,0,0,0,0
$GC,5249,1.32,146.0,334.4,11.5,500,5251,0.52,0.00,0.00,0.000,6,0.000,0.000,2999,2362,2159,1,0,0,0,0,0
$GC,5568,1.32,146.0,276.8,18.1,530,5573,0.50,2.70,0.00,0.000,4,0.000,0.000,2914,942,2153,0,0,0,0,0,0
$GC,5589,1.32,146.0,273.6,14.5,531,5595,0.40,2.85,0.00,0.000,6,0.000,0.000,2975,2385,2155,0,0,1,0,0,0
$GC,5913,1.32,146.0,221.5,16.1,562,5915,0.25,0.00,0.00,0.000,6,0.000,0.000,2931,2389,2157,0,0,0,0,0,0
$GC,6232,1.32,146.0,178.2,13.6,592,6236,0.00,2.70,0.00,0.000,4,0.000,0.000,2931,819,2154,0,0,0,0,0,0
$GC,6259,1.32,146.0,174.5,13.3,594,6264,0.00,2.75,0.00,0.000,6,0.000,0.000,2932,2389,2152,0,0,2,0,0,0
$GC,6583,1.32,146.0,130.9,13.2,624,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2388,2158,0,0,0,0,0,0
$GC,6904,1.32,146.0,88.9,13.1,654,6909,0.00,2.72,0.00,0.000,4,0.000,0.000,2928,833,2159,0,0,0,0,0,0
$GC,6932,1.32,146.0,85.1,13.1,656,6937,0.00,2.90,0.00,0.000,6,0.000,0.000,2928,2352,2154,0,0,1,0,0,0
$GC,7257,1.32,146.0,44.0,12.1,686,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2352,2155,0,0,0,0,0,0
$GC,7448,1.32,146.0,21.5,11.6,704,7449,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2353,2155,0,0,0,0,0,0
$STATE,7624,end climb,SURFACE_DEPTH_REACHED
$STATE,7626,begin surface coast
$FINISH,-0.0,1.026343
$STATE,7641,end surface coast,CONTROL_FINISHED_OK
$STATE,7642,begin surface
$SM_CCo,7666,67.35,0.001,0,0,1731,250.21
$SM_GC,-0.00,0.00,0.00,67.35,0.000,0.000,0.001,330,2221,1731,-10.69,-0.08,250.21
$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,1078986863
$INTERNAL_PRESSURE,15.8014
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.1,999.0
$24V_AH,24.1,85.426
$10V_AH,10.7,22.894
$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,33.025,50.300,286.125,67.350,0.000,0.000,0.000,80.735,9.750,0.000,30.523,1252.827,5284.163,459.365,692.957,284.710,0.000,1013.978,0.000,571.356,2160.000,54.062,0.000
$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,594.905,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129528
$DATA_FILE_SIZE,22124,737
$CAP_FILE_SIZE,87590,0
$CFSIZE,260165632,246951936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,21,0,0
$SOUNDSPEED,1471.3
$GPS,290909,011240,6639.794,-5820.750,13,1.1,13,18.0