version: 66.07
glider: 99
mission: 63
dive: 167
start: 9 29 109 1 16 36
data:
$ID,99
$MISSION,63
$DIVE,167
$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,-821718.06
$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,47
$R_STBD_OVSHOOT,63
$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
$GPS1,011240,6639.794,-5820.750,13,1.1,13,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,011615,6639.794,-5820.750,9,1.1,9,18.0
$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,254.2,104285,-18.1,-10.000
$D_GRID,674
$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,-53.40,0.000,6,0.000,0.000,332,2221,3353,0,0,0,0,0,0
$GC,75,-1.32,-146.0,4.6,-23.8,11,89,10.27,0.00,0.00,0.000,6,0.000,0.000,2407,2221,3353,1,0,0,0,0,0
$GC,156,-1.32,-146.0,21.6,-10.2,25,159,0.45,0.00,0.00,0.000,6,0.000,0.000,2326,2219,3353,0,0,0,0,0,0
$GC,348,-1.32,-146.0,48.7,-13.9,43,350,0.40,0.00,0.00,0.000,6,0.000,0.000,2395,2228,3349,0,0,0,0,0,0
$GC,539,-1.32,-146.0,68.1,-10.1,61,541,0.38,0.00,0.00,0.000,6,0.000,0.000,2311,2224,3354,0,0,0,0,0,0
$GC,858,-1.32,-146.0,110.2,-12.9,91,860,0.43,0.00,0.00,0.000,6,0.000,0.000,2380,2225,3351,0,0,0,0,0,0
$GC,1177,-1.32,-146.0,140.8,-9.6,121,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2222,3355,0,0,0,0,0,0
$GC,1497,-1.32,-146.0,170.7,-9.4,151,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2223,3356,0,0,0,0,0,0
$GC,1814,-1.32,-146.0,200.2,-9.3,181,1816,0.28,0.00,0.00,0.000,6,0.000,0.000,2352,2222,3357,0,0,0,0,0,0
$GC,2131,-1.32,-146.0,235.1,-10.9,211,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2223,3351,0,0,0,0,0,0
$GC,2452,-1.32,-146.0,270.1,-11.1,241,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2225,3360,0,0,0,0,0,0
$GC,2769,-1.32,-146.0,305.0,-11.1,271,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2224,3353,0,0,0,0,0,0
$GC,3087,-1.32,-146.0,339.9,-10.9,301,3089,0.22,0.00,0.00,0.000,6,0.000,0.000,2393,2221,3354,0,0,0,0,0,0
$GC,3406,-1.32,-146.0,369.1,-9.1,331,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2220,3354,0,0,0,0,0,0
$GC,3725,-1.32,-146.0,398.2,-9.0,361,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2223,3352,0,0,0,0,0,0
$GC,4044,-1.32,-146.0,427.0,-9.0,391,4046,0.28,0.00,0.00,0.000,6,0.000,0.000,2327,2219,3353,0,0,0,0,0,0
$STATE,4256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4256,begin apogee
$GC,4262,-0.31,0.0,451.2,11.5,411,4413,1.38,0.00,145.52,0.001,6,0.000,0.000,2602,2334,2748,0,0,0,0,0,0
$STATE,4416,end apogee,CONTROL_FINISHED_OK
$STATE,4416,begin climb
$GC,4418,1.32,146.0,454.2,0.0,426,4567,1.92,0.00,142.68,0.001,6,0.000,0.000,3008,2337,2157,1,0,0,0,0,0
$GC,4883,1.32,146.0,377.0,18.4,471,4885,0.50,0.00,0.00,0.000,6,0.000,0.000,2898,2333,2155,1,0,0,0,0,0
$GC,5202,1.32,146.0,338.4,11.8,501,5204,0.35,0.00,0.00,0.000,6,0.000,0.000,2958,2336,2157,0,0,0,0,0,0
$GC,5520,1.32,146.0,288.3,15.7,531,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2324,2153,0,0,0,0,0,0
$GC,5841,1.32,146.0,237.9,15.8,561,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2336,2157,0,0,0,0,0,0
$GC,6161,1.32,146.0,187.6,15.7,591,6166,0.22,0.00,0.00,0.000,6,0.000,0.000,2930,2333,2157,0,0,0,0,0,0
$GC,6487,1.32,146.0,143.8,13.0,622,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2335,2154,0,0,0,0,0,0
$GC,6806,1.32,146.0,102.2,13.1,652,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2337,2154,0,0,0,0,0,0
$GC,7125,1.32,146.0,61.8,12.7,682,7129,0.00,2.65,0.00,0.000,4,0.000,0.000,2924,894,2152,0,0,0,0,0,0
$GC,7146,1.32,146.0,58.8,12.4,683,7151,0.00,2.65,0.00,0.000,6,0.000,0.000,2923,2366,2158,0,0,2,0,0,0
$GC,7471,1.32,146.0,20.6,11.2,714,7473,0.00,0.00,0.45,0.000,6,0.000,0.000,2926,2364,2157,0,0,0,0,0,0
$STATE,7641,end climb,SURFACE_DEPTH_REACHED
$STATE,7641,begin surface coast
$FINISH,-0.0,1.026358
$STATE,7659,end surface coast,CONTROL_FINISHED_OK
$STATE,7659,begin surface
$SM_CCo,7683,67.22,0.001,0,0,1726,250.70
$SM_GC,-0.00,0.00,0.00,67.22,0.000,0.000,0.001,325,2288,1726,-10.72,1.70,250.70
$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,1078996540
$INTERNAL_PRESSURE,15.8307
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.1,999.0
$24V_AH,24.1,85.664
$10V_AH,10.7,22.930
$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,30.025,5.800,288.650,67.225,0.000,0.000,0.000,81.461,9.750,0.000,11.444,1214.963,5404.710,429.680,656.507,267.373,0.000,957.747,0.000,557.805,0.000,53.720,0.000
$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,604.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129580
$DATA_FILE_SIZE,22086,747
$CAP_FILE_SIZE,74513,0
$CFSIZE,260165632,246927360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,3,0,0
$SOUNDSPEED,1471.4
$GPS,290909,032711,6639.512,-5823.399,24,1.1,24,18.0