version: 66.07
glider: 99
mission: 63
dive: 192
start: 10 1 109 9 45 24
data:
$ID,99
$MISSION,63
$DIVE,192
$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,-822349.88
$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
$GPS1,094118,6633.639,-5926.670,13,1.1,13,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,094503,6633.639,-5926.670,15,1.1,15,18.0
$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,267.5,58020,-18.1,-10.000
$D_GRID,802
$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,16,-1.32,-146.0,0.0,0.0,0,71,0.00,0.00,-53.60,0.000,6,0.000,0.000,342,2308,3357,0,0,0,0,0,0
$GC,75,-1.32,-146.0,4.0,-20.0,11,90,10.15,3.03,0.00,0.000,4,0.000,0.000,2398,574,3350,0,0,1,0,0,0
$GC,118,-1.32,-146.0,17.9,-11.3,19,127,0.35,3.42,0.00,0.000,6,0.000,0.000,2320,2347,3354,0,0,2,0,0,0
$GC,192,-1.32,-146.0,28.0,-14.2,28,194,0.40,0.00,0.00,0.000,6,0.000,0.000,2393,2342,3351,0,0,0,0,0,0
$GC,384,-1.32,-146.0,48.5,-10.4,46,388,0.00,2.92,0.00,0.000,4,0.000,0.000,2396,640,3351,0,0,1,0,0,0
$GC,405,-1.32,-146.0,50.8,-10.3,47,410,0.00,3.03,0.00,0.000,6,0.000,0.000,2385,2301,3349,0,0,1,0,0,0
$GC,730,-1.32,-146.0,83.8,-10.1,78,732,0.32,0.00,0.00,0.000,6,0.000,0.000,2309,2304,3354,0,0,0,0,0,0
$GC,1048,-1.32,-146.0,127.8,-13.6,108,1054,0.55,2.85,0.00,0.000,4,0.000,0.000,2420,717,3354,1,0,2,0,0,0
$GC,1082,-1.32,-146.0,131.0,-8.4,110,1088,0.60,3.00,0.00,0.000,6,0.000,0.000,2316,2386,3347,1,0,1,0,0,0
$GC,1412,-1.32,-146.0,173.8,-13.2,142,1418,0.40,2.88,0.00,0.000,4,0.000,0.000,2403,737,3353,0,0,1,0,0,0
$GC,1452,-1.32,-146.0,177.6,-8.7,145,1458,0.43,2.83,0.00,0.000,6,0.000,0.000,2334,2296,3356,0,0,1,0,0,0
$GC,1777,-1.32,-146.0,215.2,-11.8,175,1779,0.40,0.00,0.00,0.000,6,0.000,0.000,2406,2297,3352,0,0,0,0,0,0
$GC,2096,-1.32,-146.0,242.9,-8.7,205,2101,0.28,2.78,0.00,0.000,4,0.000,0.000,2359,731,3352,0,0,1,0,0,0
$GC,2124,-1.32,-146.0,245.8,-10.5,207,2128,0.00,2.80,0.00,0.000,6,0.000,0.000,2362,2298,3353,0,0,2,0,0,0
$GC,2448,-1.32,-146.0,279.7,-10.3,237,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2292,3352,0,0,0,0,0,0
$GC,2767,-1.32,-146.0,312.8,-10.4,267,2771,0.00,2.85,0.00,0.000,4,0.000,0.000,2354,772,3353,0,0,2,0,0,0
$GC,2795,-1.32,-146.0,315.7,-10.7,269,2799,0.00,2.75,0.00,0.000,6,0.000,0.000,2356,2314,3356,0,0,2,0,0,0
$GC,3119,-1.32,-146.0,349.3,-10.3,299,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2311,3354,0,0,0,0,0,0
$GC,3438,-1.32,-146.0,382.2,-10.3,329,3443,0.00,2.95,0.00,0.000,4,0.000,0.000,2365,651,3350,0,0,0,0,0,0
$GC,3477,-1.32,-146.0,386.2,-10.3,332,3482,0.00,3.17,0.00,0.000,6,0.000,0.000,2361,2315,3350,0,0,1,0,0,0
$GC,3801,-1.32,-146.0,419.5,-10.4,362,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2315,3355,0,0,0,0,0,0
$STATE,4109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4109,begin apogee
$GC,4116,-0.31,0.0,451.1,10.3,391,4265,1.20,0.00,144.98,0.001,6,0.000,0.000,2609,2361,2752,0,0,0,0,0,0
$STATE,4268,end apogee,CONTROL_FINISHED_OK
$STATE,4268,begin climb
$GC,4271,1.32,146.0,453.9,0.0,406,4423,1.75,2.53,141.75,0.001,4,0.000,0.000,2957,3684,2144,0,0,2,0,0,0
$GC,4468,1.32,146.0,430.3,15.2,425,4473,0.00,2.78,0.00,0.000,6,0.000,0.000,2964,2152,2148,0,0,2,0,0,0
$GC,4793,1.32,146.0,380.3,15.4,455,4797,0.00,2.67,0.00,0.000,4,0.000,0.000,2959,3608,2149,0,0,0,0,0,0
$GC,4831,1.32,146.0,374.3,16.1,458,4835,0.00,2.42,0.00,0.000,6,0.000,0.000,2953,2234,2154,0,0,1,0,0,0
$GC,5155,1.32,146.0,324.4,15.5,488,5160,0.00,2.62,0.00,0.000,4,0.000,0.000,2957,3652,2149,0,0,1,0,0,0
$GC,5177,1.32,146.0,321.0,15.0,489,5182,0.00,2.50,0.00,0.000,6,0.000,0.000,2960,2275,2154,0,0,2,0,0,0
$GC,5501,1.32,146.0,271.3,15.4,520,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2271,2146,0,0,0,0,0,0
$GC,5824,1.32,146.0,222.7,15.1,550,5828,0.00,2.47,0.00,0.000,4,0.000,0.000,2958,3665,2153,0,0,1,0,0,0
$GC,5852,1.32,146.0,217.9,15.3,552,5856,0.00,2.45,0.00,0.000,6,0.000,0.000,2955,2255,2153,0,0,2,0,0,0
$GC,6176,1.32,146.0,169.0,14.9,582,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2257,2148,0,0,0,0,0,0
$GC,6497,1.32,146.0,121.8,14.7,612,6501,0.00,2.53,0.00,0.000,4,0.000,0.000,2959,3716,2149,0,0,2,0,0,0
$GC,6529,1.32,146.0,116.6,14.4,614,6534,0.00,3.05,0.00,0.000,6,0.000,0.000,2960,1991,2151,0,0,2,0,0,0
$GC,6854,1.32,146.0,70.2,14.1,645,6858,0.00,3.00,0.00,0.000,4,0.000,0.000,2947,3656,2154,0,0,0,0,0,0
$GC,6937,1.32,146.0,58.5,13.9,652,6941,0.00,2.53,0.00,0.000,6,0.000,0.000,2960,2222,2150,0,0,1,0,0,0
$GC,7263,1.32,146.0,14.5,12.0,686,7268,0.00,2.58,0.00,0.000,4,0.000,0.000,2964,3657,2151,0,0,0,0,0,0
$GC,7285,1.32,146.0,11.9,11.8,690,7290,0.00,2.50,0.00,0.000,6,0.000,0.000,2965,2255,2156,0,0,0,0,0,0
$GC,7358,1.32,146.0,3.1,12.6,703,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2258,2150,0,0,0,0,0,0
$STATE,7366,end climb,SURFACE_DEPTH_REACHED
$STATE,7366,begin surface coast
$FINISH,-0.0,1.026498
$STATE,7385,end surface coast,CONTROL_FINISHED_OK
$STATE,7385,begin surface
$SM_CCo,7409,66.82,0.001,0,0,1725,250.21
$SM_GC,-0.00,0.00,0.00,66.82,0.000,0.000,0.001,332,2177,1725,-10.74,-1.44,250.21
$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,0.03068
$HUMID,1079026863
$INTERNAL_PRESSURE,16.1041
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,426.0,999.0
$24V_AH,24.1,91.688
$10V_AH,10.7,23.897
$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,30.000,78.175,286.725,66.825,0.000,0.000,0.000,81.277,9.750,0.000,17.726,1195.820,5067.493,479.183,680.842,284.070,0.000,1048.908,0.000,577.408,0.000,53.931,0.000
$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,567.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129568
$DATA_FILE_SIZE,22152,708
$CAP_FILE_SIZE,88328,0
$CFSIZE,260165632,245874688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,34,0,0
$SOUNDSPEED,1467.9
$GPS,011009,115128,6633.409,-5929.232,28,1.1,28,18.0