version: 66.07
glider: 99
mission: 63
dive: 195
start: 10 1 109 16 24 55
data:
$ID,99
$MISSION,63
$DIVE,195
$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,-822440.75
$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,60
$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
$GPS1,162042,6633.312,-5934.583,19,1.1,19,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,162434,6633.312,-5934.583,27,1.1,27,18.0
$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,269.8,52639,-18.1,-10.000
$D_GRID,775
$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,-146.0,0.0,0.0,0,70,0.00,0.00,-51.47,0.000,2,0.000,0.000,310,2179,3292,0,0,0,0,0,0
$GC,73,-1.32,-146.0,3.2,-15.7,10,88,10.25,0.00,-1.62,0.000,6,0.000,0.000,2397,2173,3348,2,0,0,0,0,0
$GC,161,-1.32,-146.0,21.7,-11.2,25,166,0.20,2.62,0.00,0.000,4,0.000,0.000,2355,3629,3348,0,0,1,0,0,0
$GC,182,-1.32,-146.0,24.3,-12.0,26,188,0.00,2.47,0.00,0.000,6,0.000,0.000,2361,2199,3347,0,0,1,0,0,0
$GC,380,-1.32,-146.0,49.2,-12.3,45,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2196,3351,0,0,0,0,0,0
$GC,571,-1.32,-146.0,72.6,-12.2,63,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2194,3349,0,0,0,0,0,0
$GC,890,-1.32,-146.0,110.2,-11.5,93,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2189,3346,0,0,0,0,0,0
$GC,1208,-1.32,-146.0,146.5,-11.4,123,1212,0.00,2.50,0.00,0.000,4,0.000,0.000,2356,3608,3346,0,0,0,0,0,0
$GC,1229,-1.32,-146.0,149.0,-11.3,124,1234,0.00,3.50,0.00,0.000,6,0.000,0.000,2355,1590,3350,0,0,5,0,0,0
$GC,1553,-1.32,-146.0,184.8,-10.9,155,1562,0.00,4.25,0.00,0.000,4,0.000,0.000,2351,3793,3352,0,0,2,0,0,0
$GC,1689,-1.32,-146.0,199.4,-10.7,167,1694,0.00,2.80,0.00,0.000,6,0.000,0.000,2361,2188,3343,0,0,1,0,0,0
$GC,2013,-1.32,-146.0,234.7,-10.9,197,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2182,3347,0,0,0,0,0,0
$GC,2332,-1.32,-146.0,268.9,-10.8,227,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2180,3353,0,0,0,0,0,0
$GC,2650,-1.32,-146.0,302.9,-10.5,257,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2193,3347,0,0,0,0,0,0
$GC,2969,-1.32,-146.0,336.8,-10.6,287,2973,0.00,2.58,0.00,0.000,4,0.000,0.000,2353,3657,3352,0,0,1,0,0,0
$GC,2996,-1.32,-146.0,339.8,-10.9,289,3001,0.00,2.75,0.00,0.000,6,0.000,0.000,2351,2068,3355,0,0,1,0,0,0
$GC,3321,-1.32,-146.0,374.1,-10.6,319,3327,0.25,3.38,0.00,0.000,4,0.000,0.000,2419,3720,3355,0,0,3,0,0,0
$GC,3354,-1.32,-146.0,377.1,-7.9,321,3360,0.43,2.75,0.00,0.000,6,0.000,0.000,2345,2172,3349,0,0,2,0,0,0
$GC,3679,-1.32,-146.0,411.8,-10.9,352,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2162,3352,0,0,0,0,0,0
$GC,3999,-1.32,-146.0,446.1,-10.7,382,4004,0.28,2.95,0.00,0.000,4,0.000,0.000,2393,3684,3351,0,0,2,0,0,0
$GC,4028,-1.32,-146.0,448.9,-9.3,384,4033,0.40,2.62,0.00,0.000,6,0.000,0.000,2352,2218,3350,0,0,0,0,0,0
$STATE,4042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4042,begin apogee
$GC,4049,-0.31,0.0,450.5,9.3,385,4197,1.20,0.00,144.18,0.001,6,0.000,0.000,2601,2493,2750,1,0,0,0,0,0
$STATE,4200,end apogee,CONTROL_FINISHED_OK
$STATE,4200,begin climb
$GC,4203,1.32,146.0,453.1,0.0,400,4356,1.62,2.03,143.07,0.001,4,0.000,0.000,2956,3652,2155,0,0,1,0,0,0
$GC,4383,1.32,146.0,432.1,15.4,417,4388,0.00,2.38,0.00,0.000,6,0.000,0.000,2962,2338,2153,0,0,1,0,0,0
$GC,4708,1.32,146.0,381.9,15.5,448,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2337,2155,0,0,0,0,0,0
$GC,5029,1.32,146.0,332.6,15.3,478,5033,0.00,2.65,0.00,0.000,4,0.000,0.000,2958,866,2154,0,0,0,0,0,0
$GC,5049,1.32,146.0,328.9,15.5,479,5055,0.00,2.72,0.00,0.000,6,0.000,0.000,2960,2358,2148,0,0,2,0,0,0
$GC,5374,1.32,146.0,279.0,15.2,510,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2355,2156,0,0,0,0,0,0
$GC,5695,1.32,146.0,230.1,15.3,540,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2353,2150,0,0,0,0,0,0
$GC,6014,1.32,146.0,181.6,15.0,570,6018,0.00,2.60,0.00,0.000,4,0.000,0.000,2958,907,2143,0,0,0,0,0,0
$GC,6041,1.32,146.0,177.1,14.7,572,6046,0.00,2.55,0.00,0.000,6,0.000,0.000,2958,2349,2155,0,0,1,0,0,0
$GC,6365,1.32,146.0,128.5,14.7,602,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2346,2152,0,0,0,0,0,0
$GC,6686,1.32,146.0,82.2,14.2,632,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2346,2150,0,0,0,0,0,0
$GC,7005,1.32,146.0,37.8,13.6,662,7006,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2344,2154,0,0,0,0,0,0
$GC,7197,1.32,146.0,12.6,11.8,685,7201,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2353,2157,0,0,0,0,0,0
$GC,7270,1.32,146.0,3.8,12.4,698,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2351,2152,0,0,0,0,0,0
$STATE,7284,end climb,SURFACE_DEPTH_REACHED
$STATE,7284,begin surface coast
$FINISH,-0.0,1.026473
$STATE,7303,end surface coast,CONTROL_FINISHED_OK
$STATE,7303,begin surface
$SM_CCo,7327,67.20,0.001,0,0,1726,250.21
$SM_GC,-0.00,0.00,0.00,67.20,0.000,0.000,0.001,340,2200,1726,-10.66,-0.76,250.21
$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,1079006863
$INTERNAL_PRESSURE,16.0846
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.5,999.0
$24V_AH,24.1,92.398
$10V_AH,10.7,24.011
$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,27.750,50.850,287.250,67.200,0.000,0.000,0.000,81.296,9.750,0.000,29.258,1182.501,5040.518,450.095,683.609,278.057,0.000,1009.920,0.000,563.850,1080.000,57.530,0.000
$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,563.830,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129548
$DATA_FILE_SIZE,22140,704
$CAP_FILE_SIZE,83714,0
$CFSIZE,260165632,245755904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,26,0,0
$SOUNDSPEED,1467.7
$GPS,011009,182920,6633.342,-5937.145,11,1.1,11,18.0