version: 66.07
glider: 99
mission: 63
dive: 169
start: 9 29 109 5 54 7
data:
$ID,99
$MISSION,63
$DIVE,169
$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,-821763.31
$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,57
$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
$GPS1,054946,6639.163,-5826.088,32,1.1,32,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,055346,6639.163,-5826.088,32,1.1,32,18.0
$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,255.0,100432,-18.1,-10.000
$D_GRID,678
$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,-53.17,0.000,6,0.000,0.000,319,2174,3339,0,0,0,0,0,0
$GC,74,-1.32,-146.0,4.5,-23.1,11,90,10.52,2.72,0.00,0.000,4,0.000,0.000,2432,3522,3344,2,0,3,0,0,0
$GC,113,-1.32,-146.0,17.1,-13.2,18,118,0.47,2.85,0.00,0.000,6,0.000,0.000,2334,2170,3345,0,0,1,0,0,0
$GC,184,-1.32,-146.0,26.7,-14.2,27,186,0.43,0.00,0.00,0.000,6,0.000,0.000,2409,2159,3338,0,0,0,0,0,0
$GC,376,-1.32,-146.0,45.8,-9.7,45,377,0.30,0.00,0.00,0.000,6,0.000,0.000,2358,2159,3335,0,0,0,0,0,0
$GC,566,-1.32,-146.0,68.5,-11.9,63,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2163,3341,0,0,0,0,0,0
$GC,885,-1.32,-146.0,104.8,-11.2,93,889,0.00,2.65,0.00,0.000,4,0.000,0.000,2344,3687,3344,0,0,1,0,0,0
$GC,917,-1.32,-146.0,108.5,-11.4,95,923,0.32,3.22,0.00,0.000,6,0.000,0.000,2401,2134,3339,0,0,3,0,0,0
$GC,1243,-1.32,-146.0,138.2,-9.0,126,1245,0.22,0.00,0.00,0.000,6,0.000,0.000,2363,2143,3344,0,0,0,0,0,0
$GC,1560,-1.32,-146.0,171.8,-10.4,156,1564,0.00,2.62,0.00,0.000,4,0.000,0.000,2353,3600,3340,0,0,1,0,0,0
$GC,1598,-1.32,-146.0,175.9,-10.6,159,1603,0.00,2.50,0.00,0.000,6,0.000,0.000,2356,2204,3341,0,0,0,0,0,0
$GC,1923,-1.32,-146.0,209.9,-10.4,189,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2198,3338,0,0,0,0,0,0
$GC,2241,-1.32,-146.0,243.2,-10.6,219,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2194,3339,0,0,0,0,0,0
$GC,2560,-1.32,-146.0,276.5,-10.6,249,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2200,3342,0,0,0,0,0,0
$GC,2880,-1.32,-146.0,309.7,-10.3,279,2884,0.00,2.47,0.00,0.000,4,0.000,0.000,2356,3625,3343,0,0,1,0,0,0
$GC,2901,-1.32,-146.0,312.2,-10.6,280,2906,0.00,2.58,0.00,0.000,6,0.000,0.000,2354,2226,3339,0,0,1,0,0,0
$GC,3225,-1.32,-146.0,346.0,-10.4,311,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2226,3343,0,0,0,0,0,0
$GC,3544,-1.32,-146.0,379.1,-10.3,341,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2226,3341,0,0,0,0,0,0
$GC,3863,-1.32,-146.0,412.2,-10.3,371,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2226,3338,0,0,0,0,0,0
$GC,4181,-1.32,-146.0,444.9,-10.2,401,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2228,3343,0,0,0,0,0,0
$STATE,4232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4232,begin apogee
$GC,4239,-0.31,0.0,450.3,10.2,406,4386,1.50,0.00,141.75,0.001,6,0.000,0.000,2663,2355,2744,1,0,0,0,0,0
$STATE,4389,end apogee,CONTROL_FINISHED_OK
$STATE,4389,begin climb
$GC,4391,1.32,146.0,454.7,0.0,421,4540,1.55,0.00,143.77,0.001,6,0.000,0.000,2976,2350,2154,0,0,0,0,0,0
$GC,4856,1.32,146.0,385.1,16.6,466,4860,0.35,0.00,0.77,0.000,6,0.000,0.000,2912,2347,2150,0,0,0,0,0,0
$GC,5175,1.32,146.0,344.9,12.4,496,5177,0.30,0.00,0.00,0.000,6,0.000,0.000,2947,2353,2153,0,0,0,0,0,0
$GC,5493,1.32,146.0,296.7,15.1,526,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2349,2154,0,0,0,0,0,0
$GC,5814,1.32,146.0,248.3,15.2,556,5819,0.00,2.55,0.00,0.000,4,0.000,0.000,2964,881,2152,0,0,2,0,0,0
$GC,5842,1.32,146.0,243.7,15.2,558,5847,0.00,2.67,0.00,0.000,6,0.000,0.000,2957,2343,2152,0,0,2,0,0,0
$GC,6166,1.32,146.0,194.5,15.2,588,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2350,2156,0,0,0,0,0,0
$GC,6487,1.32,146.0,146.3,15.0,618,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2346,2154,0,0,0,0,0,0
$GC,6805,1.32,146.0,99.0,14.9,648,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2352,2159,0,0,0,0,0,0
$GC,7124,1.32,146.0,53.3,13.9,678,7128,0.00,2.70,0.00,0.000,4,0.000,0.000,2957,844,2155,0,0,0,0,0,0
$GC,7144,1.32,146.0,49.9,14.2,679,7150,0.00,2.88,0.00,0.000,6,0.000,0.000,2954,2466,2153,0,0,1,0,0,0
$GC,7474,1.32,146.0,7.2,12.6,719,7479,0.00,2.92,0.00,0.000,4,0.000,0.000,2953,872,2146,0,0,3,0,0,0
$GC,7508,1.32,146.0,3.1,12.5,725,7513,0.00,2.70,0.00,0.000,6,0.000,0.000,2958,2384,2150,0,0,0,0,0,0
$STATE,7516,end climb,SURFACE_DEPTH_REACHED
$STATE,7516,begin surface coast
$FINISH,-0.0,1.026389
$STATE,7534,end surface coast,CONTROL_FINISHED_OK
$STATE,7534,begin surface
$SM_CCo,7559,67.40,0.001,0,0,1732,250.45
$SM_GC,-0.00,0.00,0.00,67.40,0.000,0.000,0.001,319,2241,1732,-10.75,0.08,250.45
$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,0.03068
$HUMID,1079000411
$INTERNAL_PRESSURE,15.8405
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.2,999.0
$24V_AH,24.1,86.156
$10V_AH,10.7,23.008
$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,29.175,38.550,286.300,67.400,0.000,0.000,0.000,81.235,9.750,0.000,34.471,1205.973,5269.055,451.034,675.537,271.784,0.000,991.106,0.000,558.667,0.000,53.343,0.000
$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,584.579,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129584
$DATA_FILE_SIZE,22123,730
$CAP_FILE_SIZE,80129,0
$CFSIZE,260165632,246841344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,21,0,0
$SOUNDSPEED,1471.5
$GPS,290909,080247,6638.880,-5828.657,33,1.1,33,18.0