version: 66.07
glider: 99
mission: 63
dive: 191
start: 10 1 109 7 32 34
data:
$ID,99
$MISSION,63
$DIVE,191
$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,-2
$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,-822331.5
$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,10
$R_STBD_OVSHOOT,6
$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
$GPS1,072827,6633.848,-5924.035,11,1.1,11,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,073212,6633.848,-5924.035,18,1.1,18,18.0
$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,266.6,59784,-18.1,-10.000
$D_GRID,837
$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,-53.45,0.000,6,0.000,0.000,336,2357,3363,0,0,0,0,0,0
$GC,74,-1.32,-146.0,4.3,-21.8,11,90,10.15,2.97,0.00,0.000,4,0.000,0.000,2412,695,3354,0,0,1,0,0,0
$GC,129,-1.32,-146.0,19.0,-10.6,21,136,0.85,2.88,0.00,0.000,6,0.000,0.000,2260,2302,3359,1,0,2,0,0,0
$GC,205,-1.32,-146.0,32.0,-18.7,29,208,0.80,0.00,0.00,0.000,6,0.000,0.000,2404,2301,3361,1,0,0,0,0,0
$GC,397,-1.32,-146.0,51.6,-9.8,47,399,0.47,0.00,0.00,0.000,6,0.000,0.000,2319,2298,3356,1,0,0,0,0,0
$GC,715,-1.32,-146.0,94.8,-13.5,77,721,0.35,3.00,0.00,0.000,4,0.000,0.000,2378,657,3361,0,0,1,0,0,0
$GC,744,-1.32,-146.0,98.0,-10.7,79,748,0.00,3.00,0.00,0.000,6,0.000,0.000,2381,2355,3356,0,0,1,0,0,0
$GC,1068,-1.32,-146.0,131.7,-10.2,109,1072,0.00,2.88,0.00,0.000,4,0.000,0.000,2375,764,3361,0,0,1,0,0,0
$GC,1095,-1.32,-146.0,134.6,-10.4,111,1100,0.00,2.83,0.00,0.000,6,0.000,0.000,2385,2342,3362,0,0,1,0,0,0
$GC,1420,-1.32,-146.0,167.3,-10.0,141,1425,0.00,3.03,0.00,0.000,4,0.000,0.000,2379,701,3358,0,0,1,0,0,0
$GC,1441,-1.32,-146.0,169.6,-10.1,142,1447,0.00,3.03,0.00,0.000,6,0.000,0.000,2378,2352,3363,0,0,1,0,0,0
$GC,1766,-1.32,-146.0,201.7,-9.8,173,1771,0.00,3.12,0.00,0.000,4,0.000,0.000,2385,648,3365,0,0,1,0,0,0
$GC,1794,-1.32,-146.0,204.5,-10.1,175,1799,0.00,3.08,0.00,0.000,6,0.000,0.000,2378,2304,3366,0,0,2,0,0,0
$GC,2119,-1.32,-146.0,236.2,-9.7,205,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2306,3359,0,0,0,0,0,0
$GC,2438,-1.32,-146.0,267.1,-9.6,235,2442,0.00,2.83,0.00,0.000,4,0.000,0.000,2386,724,3363,0,0,0,0,0,0
$GC,2477,-1.32,-146.0,270.9,-9.5,238,2481,0.00,2.75,0.00,0.000,6,0.000,0.000,2376,2362,3366,0,0,1,0,0,0
$GC,2802,-1.32,-146.0,302.2,-9.7,268,2806,0.00,2.85,0.00,0.000,4,0.000,0.000,2381,722,3360,0,0,2,0,0,0
$GC,2829,-1.32,-146.0,304.9,-9.7,270,2834,0.00,2.97,0.00,0.000,6,0.000,0.000,2381,2335,3360,0,0,1,0,0,0
$GC,3154,-1.32,-146.0,336.1,-9.6,300,3159,0.00,2.92,0.00,0.000,4,0.000,0.000,2383,728,3359,0,0,0,0,0,0
$GC,3175,-1.32,-146.0,338.2,-9.6,301,3180,0.00,2.88,0.00,0.000,6,0.000,0.000,2383,2302,3357,0,0,1,0,0,0
$GC,3500,-1.32,-146.0,369.2,-9.5,332,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2309,3366,0,0,0,0,0,0
$GC,3818,-1.32,-146.0,399.6,-9.5,362,3823,0.00,2.70,0.00,0.000,4,0.000,0.000,2381,752,3360,0,0,0,0,0,0
$GC,3858,-1.32,-146.0,403.3,-9.7,365,3863,0.00,2.80,0.00,0.000,6,0.000,0.000,2375,2326,3361,0,0,1,0,0,0
$GC,4182,-1.32,-146.0,434.3,-9.5,395,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2317,3358,0,0,0,0,0,0
$STATE,4350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4350,begin apogee
$GC,4356,-0.31,0.0,450.4,9.6,411,4508,1.15,0.00,147.30,0.001,6,0.000,0.000,2608,2320,2743,0,0,0,0,0,0
$STATE,4511,end apogee,CONTROL_FINISHED_OK
$STATE,4511,begin climb
$GC,4514,1.32,146.0,452.9,0.0,426,4671,1.70,2.65,142.60,0.001,4,0.000,0.000,2960,3795,2148,0,0,1,0,0,0
$GC,4698,1.32,146.0,430.8,15.3,443,4704,0.00,2.80,0.00,0.000,6,0.000,0.000,2959,2261,2154,0,0,1,0,0,0
$GC,5023,1.32,146.0,379.9,15.7,474,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2263,2148,0,0,0,0,0,0
$GC,5342,1.32,146.0,329.9,15.6,504,5346,0.00,2.72,0.00,0.000,4,0.000,0.000,2960,3674,2152,0,0,2,0,0,0
$GC,5374,1.32,146.0,324.7,15.9,506,5379,0.00,2.65,0.00,0.000,6,0.000,0.000,2953,2249,2154,0,0,2,0,0,0
$GC,5698,1.32,146.0,274.2,15.4,537,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2254,2152,0,0,0,0,0,0
$GC,6021,1.32,146.0,224.6,15.6,567,6025,0.00,2.78,0.00,0.000,4,0.000,0.000,2963,3793,2145,0,0,0,0,0,0
$GC,6053,1.32,146.0,219.0,15.3,569,6058,0.00,2.75,0.00,0.000,6,0.000,0.000,2964,2224,2149,0,0,0,0,0,0
$GC,6377,1.32,146.0,169.2,15.2,600,6382,0.00,2.62,0.00,0.000,4,0.000,0.000,2962,3662,2153,0,0,1,0,0,0
$GC,6399,1.32,146.0,165.7,15.9,601,6404,0.00,2.58,0.00,0.000,6,0.000,0.000,2955,2173,2151,0,0,2,0,0,0
$GC,6723,1.32,146.0,117.0,14.7,632,6729,0.43,2.67,0.00,0.000,4,0.000,0.000,2883,3698,2146,0,0,0,0,0,0
$GC,6763,1.32,146.0,112.5,10.2,635,6768,0.52,2.62,0.00,0.000,6,0.000,0.000,2998,2214,2150,0,0,2,0,0,0
$GC,7087,1.32,146.0,58.5,16.8,665,7092,0.47,2.60,0.00,0.000,4,0.000,0.000,2936,3711,2153,1,0,1,0,0,0
$GC,7115,1.32,146.0,54.5,13.3,667,7119,0.00,2.67,0.00,0.000,6,0.000,0.000,2937,2165,2150,0,0,2,0,0,0
$GC,7441,1.32,146.0,14.3,11.1,701,7446,0.00,2.88,0.00,0.000,4,0.000,0.000,2938,3688,2146,0,0,1,0,0,0
$GC,7480,1.32,146.0,10.1,10.8,708,7485,0.00,3.12,0.00,0.000,6,0.000,0.000,2938,2123,2154,0,0,3,0,0,0
$STATE,7550,end climb,SURFACE_DEPTH_REACHED
$STATE,7550,begin surface coast
$FINISH,-0.0,1.026514
$STATE,7568,end surface coast,CONTROL_FINISHED_OK
$STATE,7568,begin surface
$SM_CCo,7592,67.07,0.001,0,0,1735,250.21
$SM_GC,-0.00,0.00,0.00,67.07,0.000,0.000,0.001,341,2306,1735,-10.69,2.21,250.21
$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,1079017186
$INTERNAL_PRESSURE,16.1041
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.2,999.0
$24V_AH,24.1,91.452
$10V_AH,10.7,23.860
$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,29.850,90.950,289.900,67.075,0.000,0.000,0.000,81.038,9.750,0.000,21.271,1252.883,5150.503,488.007,703.811,288.789,0.000,1074.750,0.000,586.763,2160.000,56.218,0.000
$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,581.260,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129580
$DATA_FILE_SIZE,22110,724
$CAP_FILE_SIZE,93471,0
$CFSIZE,260165632,245911552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,37,0,0
$SOUNDSPEED,1468.2
$GPS,011009,094118,6633.639,-5926.670,13,1.1,13,18.0