version: 66.07
glider: 99
mission: 63
dive: 196
start: 10 1 109 18 33 31
data:
$ID,99
$MISSION,63
$DIVE,196
$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,-822469.38
$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,56
$R_STBD_OVSHOOT,67
$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
$GPS1,182920,6633.342,-5937.145,11,1.1,11,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-70.0
$GPS2,183310,6633.342,-5937.145,26,1.1,26,18.0
$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,270.4,50837,-18.1,-10.000
$D_GRID,759
$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,-53.30,0.000,6,0.000,0.000,343,2203,3346,0,0,0,0,0,0
$GC,75,-1.32,-146.0,4.4,-22.2,11,89,10.10,0.00,0.00,0.000,6,0.000,0.000,2449,2202,3348,1,0,0,0,0,0
$GC,162,-1.32,-146.0,21.1,-8.8,26,168,0.40,2.65,0.00,0.000,4,0.000,0.000,2348,3598,3347,0,0,2,0,0,0
$GC,184,-1.32,-146.0,23.7,-11.3,27,189,0.00,2.88,0.00,0.000,6,0.000,0.000,2351,2172,3347,0,0,0,0,0,0
$GC,381,-1.32,-146.0,49.1,-12.7,46,382,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2178,3351,0,0,0,0,0,0
$GC,574,-1.32,-146.0,73.0,-12.5,64,576,0.28,0.00,0.00,0.000,6,0.000,0.000,2409,2174,3348,0,0,0,0,0,0
$GC,891,-1.32,-146.0,102.8,-9.0,94,896,0.30,2.62,0.00,0.000,4,0.000,0.000,2338,3674,3350,0,0,1,0,0,0
$GC,913,-1.32,-146.0,105.3,-11.2,95,918,0.40,2.65,0.00,0.000,6,0.000,0.000,2405,2152,3350,0,0,0,0,0,0
$GC,1238,-1.32,-146.0,135.6,-9.3,126,1240,0.30,0.00,0.00,0.000,6,0.000,0.000,2359,2157,3345,0,0,0,0,0,0
$GC,1558,-1.32,-146.0,170.2,-10.7,156,1562,0.00,2.53,0.00,0.000,4,0.000,0.000,2360,3602,3344,0,0,2,0,0,0
$GC,1590,-1.32,-146.0,173.9,-10.5,158,1596,0.00,2.50,0.00,0.000,6,0.000,0.000,2355,2194,3354,0,0,2,0,0,0
$GC,1915,-1.32,-146.0,208.5,-10.7,189,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2184,3344,0,0,0,0,0,0
$GC,2233,-1.32,-146.0,242.1,-10.6,219,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2190,3342,0,0,0,0,0,0
$GC,2552,-1.32,-146.0,275.5,-10.4,249,2556,0.00,2.65,0.00,0.000,4,0.000,0.000,2357,3641,3347,0,0,1,0,0,0
$GC,2579,-1.32,-146.0,278.4,-10.6,251,2584,0.00,2.50,0.00,0.000,6,0.000,0.000,2358,2234,3345,0,0,0,0,0,0
$GC,2904,-1.32,-146.0,312.1,-10.5,281,2908,0.00,2.62,0.00,0.000,4,0.000,0.000,2358,764,3343,0,0,1,0,0,0
$GC,2924,-1.32,-146.0,314.5,-10.1,282,2930,0.00,2.65,0.00,0.000,6,0.000,0.000,2357,2235,3348,0,0,1,0,0,0
$GC,3250,-1.32,-146.0,348.1,-10.4,313,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2237,3348,0,0,0,0,0,0
$GC,3569,-1.32,-146.0,381.0,-10.3,343,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2232,3350,0,0,0,0,0,0
$GC,3887,-1.32,-146.0,413.8,-10.4,373,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2225,3351,0,0,0,0,0,0
$GC,4205,-1.32,-146.0,446.5,-10.2,403,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2234,3346,0,0,0,0,0,0
$STATE,4246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4246,begin apogee
$GC,4253,-0.31,0.0,450.9,10.2,407,4401,1.17,0.00,144.38,0.001,6,0.000,0.000,2605,2411,2746,0,0,0,0,0,0
$STATE,4404,end apogee,CONTROL_FINISHED_OK
$STATE,4404,begin climb
$GC,4407,1.32,146.0,453.5,0.0,422,4555,1.85,0.00,142.00,0.001,6,0.000,0.000,2981,2425,2147,0,0,0,0,0,0
$GC,4873,1.32,146.0,383.7,16.8,466,4875,0.32,0.00,0.00,0.000,6,0.000,0.000,2906,2416,2154,0,0,0,0,0,0
$GC,5192,1.32,146.0,344.1,12.2,496,5197,0.25,2.70,0.00,0.000,4,0.000,0.000,2944,917,2154,0,0,1,0,0,0
$GC,5231,1.32,146.0,338.6,14.4,499,5235,0.00,2.62,0.00,0.000,6,0.000,0.000,2944,2365,2149,0,0,1,0,0,0
$GC,5557,1.32,146.0,291.3,14.5,529,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2370,2150,0,0,0,0,0,0
$GC,5874,1.32,146.0,245.0,14.5,559,5875,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2369,2154,0,0,0,0,0,0
$GC,6194,1.32,146.0,199.0,14.4,589,6199,0.00,2.62,0.00,0.000,4,0.000,0.000,2941,908,2151,0,0,1,0,0,0
$GC,6222,1.32,146.0,194.7,14.3,591,6227,0.00,2.60,0.00,0.000,6,0.000,0.000,2946,2320,2150,0,0,1,0,0,0
$GC,6547,1.32,146.0,148.4,14.4,621,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2326,2151,0,0,0,0,0,0
$GC,6868,1.32,146.0,104.0,14.0,651,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2315,2154,0,0,0,0,0,0
$GC,7186,1.32,146.0,61.0,13.1,681,7188,0.00,0.00,0.80,0.000,6,0.000,0.000,2947,2325,2159,0,0,0,0,0,0
$GC,7502,1.32,146.0,20.5,12.5,711,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2323,2159,0,0,0,0,0,0
$STATE,7666,end climb,SURFACE_DEPTH_REACHED
$STATE,7666,begin surface coast
$FINISH,-0.0,1.026468
$STATE,7681,end surface coast,CONTROL_FINISHED_OK
$STATE,7681,begin surface
$SM_CCo,7706,66.75,0.001,0,0,1729,250.45
$SM_GC,-0.00,0.00,0.00,66.75,0.000,0.000,0.001,334,2234,1729,-10.70,0.31,250.45
$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,0.031447
$HUMID,1078979990
$INTERNAL_PRESSURE,16.0651
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.8,999.0
$24V_AH,24.1,92.627
$10V_AH,10.7,24.049
$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,28.450,37.275,287.175,66.750,0.000,0.000,0.000,81.237,9.750,0.000,27.994,1236.688,5358.189,438.841,698.252,279.498,0.000,1001.629,0.000,577.487,1440.000,55.730,0.000
$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,596.635,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129516
$DATA_FILE_SIZE,22156,742
$CAP_FILE_SIZE,83504,0
$CFSIZE,260165632,245714944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,15,0,0
$SOUNDSPEED,1467.7
$GPS,011009,204413,6633.319,-5939.864,8,1.1,8,18.0