version: 66.07
glider: 99
mission: 63
dive: 193
start: 10 1 109 11 55 51
data:
$ID,99
$MISSION,63
$DIVE,193
$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,-822385.81
$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,39
$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
$GPS1,115128,6633.409,-5929.232,28,1.1,28,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-70.0
$GPS2,115531,6633.409,-5929.232,33,1.1,33,18.0
$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,268.4,56332,-18.1,-10.000
$D_GRID,784
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.32,-146.0,0.0,0.0,0,72,0.00,0.00,-53.38,0.000,2,0.000,0.000,327,2176,3350,0,0,0,0,0,0
$GC,75,-1.32,-146.0,4.0,-20.0,11,90,10.50,2.50,0.00,0.000,4,0.000,0.000,2414,3643,3346,2,0,2,0,0,0
$GC,113,-1.32,-146.0,16.9,-12.3,18,119,0.45,3.15,0.00,0.000,6,0.000,0.000,2334,1864,3344,0,0,4,0,0,0
$GC,184,-1.32,-146.0,26.1,-13.1,27,186,0.20,0.00,0.00,0.000,6,0.000,0.000,2386,1862,3354,0,0,0,0,0,0
$GC,376,-1.32,-146.0,47.0,-10.9,45,381,0.00,3.20,0.00,0.000,4,0.000,0.000,2387,3664,3349,0,0,0,0,0,0
$GC,438,-1.32,-146.0,53.6,-10.7,50,442,0.00,2.70,0.00,0.000,6,0.000,0.000,2385,2145,3346,0,0,0,0,0,0
$GC,762,-1.32,-146.0,87.5,-10.3,80,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2138,3347,0,0,0,0,0,0
$GC,1081,-1.32,-146.0,119.8,-9.9,110,1085,0.00,2.65,0.00,0.000,4,0.000,0.000,2389,3666,3350,0,0,0,0,0,0
$GC,1120,-1.32,-146.0,123.7,-10.2,113,1125,0.00,3.05,0.00,0.000,6,0.000,0.000,2383,1887,3347,0,0,0,0,0,0
$GC,1444,-1.32,-146.0,155.6,-9.5,143,1450,0.00,3.47,0.00,0.000,4,0.000,0.000,2382,3679,3347,0,0,2,0,0,0
$GC,1523,-1.32,-146.0,163.3,-9.7,149,1528,0.00,2.65,0.00,0.000,6,0.000,0.000,2386,2158,3350,0,0,1,0,0,0
$GC,1848,-1.32,-146.0,194.4,-9.5,180,1849,0.20,0.00,0.00,0.000,6,0.000,0.000,2343,2162,3350,0,0,0,0,0,0
$GC,2168,-1.32,-146.0,230.3,-11.3,210,2174,0.52,2.85,0.00,0.000,4,0.000,0.000,2448,3640,3349,1,0,2,0,0,0
$GC,2197,-1.32,-146.0,232.9,-7.8,212,2203,0.62,2.62,0.00,0.000,6,0.000,0.000,2332,2175,3345,1,0,2,0,0,0
$GC,2521,-1.32,-146.0,270.0,-11.5,242,2523,0.35,0.00,0.00,0.000,6,0.000,0.000,2398,2185,3341,0,0,0,0,0,0
$GC,2842,-1.32,-146.0,298.2,-8.9,272,2844,0.35,0.00,0.00,0.000,6,0.000,0.000,2332,2173,3346,0,0,0,0,0,0
$GC,3158,-1.32,-146.0,334.3,-11.6,302,3164,0.28,2.85,0.00,0.000,4,0.000,0.000,2399,3642,3345,0,0,1,0,0,0
$GC,3191,-1.32,-146.0,337.4,-8.6,304,3197,0.35,2.70,0.00,0.000,6,0.000,0.000,2351,2128,3345,0,0,1,0,0,0
$GC,3516,-1.32,-146.0,370.8,-10.4,335,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2137,3347,0,0,0,0,0,0
$GC,3834,-1.32,-146.0,403.5,-10.4,365,3839,0.00,2.80,0.00,0.000,4,0.000,0.000,2351,3711,3348,0,0,2,0,0,0
$GC,3875,-1.32,-146.0,407.7,-10.3,368,3880,0.00,2.95,0.00,0.000,6,0.000,0.000,2353,2055,3351,0,0,2,0,0,0
$GC,4200,-1.32,-146.0,441.0,-10.2,398,4204,0.00,2.83,0.00,0.000,4,0.000,0.000,2358,3610,3347,0,0,0,0,0,0
$GC,4239,-1.32,-146.0,445.0,-10.3,401,4243,0.00,2.60,0.00,0.000,6,0.000,0.000,2359,2140,3347,0,0,1,0,0,0
$STATE,4295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4295,begin apogee
$GC,4302,-0.31,0.0,451.0,10.1,406,4450,1.20,0.00,143.52,0.001,6,0.000,0.000,2618,2378,2742,1,0,0,0,0,0
$STATE,4453,end apogee,CONTROL_FINISHED_OK
$STATE,4453,begin climb
$GC,4456,1.32,146.0,453.3,0.0,421,4608,2.00,2.28,142.18,0.001,4,0.000,0.000,3058,3689,2155,0,0,0,0,0,0
$GC,4633,1.32,146.0,424.6,22.6,438,4643,0.90,2.50,0.00,0.000,6,0.000,0.000,2881,2283,2152,0,0,2,0,0,0
$GC,4962,1.32,146.0,387.3,10.9,469,4964,0.47,0.00,0.00,0.000,6,0.000,0.000,2968,2279,2153,1,0,0,0,0,0
$GC,5280,1.32,146.0,336.2,15.9,499,5282,0.28,0.00,0.00,0.000,6,0.000,0.000,2935,2278,2157,0,0,0,0,0,0
$GC,5599,1.32,146.0,293.2,13.5,529,5603,0.00,2.38,0.00,0.000,4,0.000,0.000,2928,3641,2153,0,0,0,0,0,0
$GC,5631,1.32,146.0,288.8,13.7,531,5636,0.00,2.40,0.00,0.000,6,0.000,0.000,2924,2307,2154,0,0,1,0,0,0
$GC,5956,1.32,146.0,245.6,13.3,562,5957,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2316,2159,0,0,0,0,0,0
$GC,6277,1.32,146.0,203.2,13.2,592,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2317,2151,0,0,0,0,0,0
$GC,6595,1.32,146.0,161.4,13.2,622,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2314,2150,0,0,0,0,0,0
$GC,6914,1.32,146.0,120.2,12.9,652,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2319,2152,0,0,0,0,0,0
$GC,7232,1.32,146.0,80.1,12.4,682,7234,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2316,2151,0,0,0,0,0,0
$GC,7551,1.32,146.0,41.2,12.0,712,7552,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2315,2150,0,0,0,0,0,0
$GC,7741,1.32,146.0,18.7,11.5,731,7745,0.08,0.00,0.00,0.000,6,0.000,0.000,2951,2311,2154,0,0,0,0,0,0
$GC,7813,1.32,146.0,10.6,10.9,744,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2312,2153,0,0,0,0,0,0
$GC,7886,1.32,146.0,2.1,12.2,757,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2313,2153,0,0,0,0,0,0
$STATE,7894,end climb,SURFACE_DEPTH_REACHED
$STATE,7894,begin surface coast
$FINISH,-0.0,1.026490
$STATE,7912,end surface coast,CONTROL_FINISHED_OK
$STATE,7912,begin surface
$SM_CCo,7937,67.35,0.001,0,0,1732,250.45
$SM_GC,-0.00,0.00,0.00,67.35,0.000,0.000,0.001,351,2179,1732,-10.64,-1.22,250.45
$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,0.032214
$HUMID,1079044282
$INTERNAL_PRESSURE,16.1041
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.7,999.0
$24V_AH,24.1,91.920
$10V_AH,10.7,23.937
$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,31.725,55.650,285.700,67.350,0.000,0.000,0.000,84.377,9.750,0.000,35.328,1305.714,5454.910,465.592,736.778,290.568,0.000,1058.941,0.000,605.934,2160.000,53.789,0.000
$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,610.845,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129584
$DATA_FILE_SIZE,25275,762
$CAP_FILE_SIZE,91661,0
$CFSIZE,260165632,245825536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,8,23,0,0
$SOUNDSPEED,1467.5
$GPS,011009,141028,6633.382,-5931.983,12,1.1,13,18.0