version: 66.07
glider: 99
mission: 63
dive: 206
start: 10 2 109 17 24 47
data:
$ID,99
$MISSION,63
$DIVE,206
$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,-822689.12
$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,48
$R_STBD_OVSHOOT,48
$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
$GPS1,172041,6633.739,-6004.613,29,1.1,29,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,172425,6633.739,-6004.613,16,1.1,16,18.0
$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,280.6,32013,-18.1,-10.000
$D_GRID,542
$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,-53.60,0.000,6,0.000,0.000,336,2207,3351,0,0,0,0,0,0
$GC,75,-1.32,-146.0,1.4,-5.6,11,89,10.30,0.00,0.00,0.000,6,0.000,0.000,2383,2195,3352,0,0,0,0,0,0
$GC,158,-1.32,-146.0,15.5,-9.6,26,161,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2198,3352,0,0,0,0,0,0
$GC,230,-1.32,-146.0,22.2,-9.2,37,231,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2201,3350,0,0,0,0,0,0
$GC,421,-1.32,-146.0,40.0,-9.3,55,425,0.00,2.58,0.00,0.000,4,0.000,0.000,2385,3630,3352,0,0,1,0,0,0
$GC,442,-1.32,-146.0,42.1,-9.4,56,447,0.00,2.58,0.00,0.000,6,0.000,0.000,2387,2207,3348,0,0,2,0,0,0
$GC,640,-1.32,-146.0,60.3,-9.4,75,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2202,3352,0,0,0,0,0,0
$GC,961,-1.32,-146.0,89.9,-9.4,105,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2194,3354,0,0,0,0,0,0
$GC,1277,-1.32,-146.0,119.5,-9.1,135,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2194,3356,0,0,0,0,0,0
$GC,1595,-1.32,-146.0,149.1,-9.3,165,1600,0.00,2.58,0.00,0.000,4,0.000,0.000,2386,3623,3349,0,0,0,0,0,0
$GC,1617,-1.32,-146.0,151.3,-9.3,166,1622,0.00,2.67,0.00,0.000,6,0.000,0.000,2381,2184,3352,0,0,1,0,0,0
$GC,1942,-1.32,-146.0,181.4,-9.2,197,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2181,3352,0,0,0,0,0,0
$GC,2260,-1.32,-146.0,211.0,-9.4,227,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2191,3356,0,0,0,0,0,0
$GC,2580,-1.32,-146.0,240.6,-9.3,257,2584,0.00,2.67,0.00,0.000,4,0.000,0.000,2384,3661,3349,0,0,0,0,0,0
$GC,2608,-1.32,-146.0,243.2,-9.3,259,2612,0.00,2.60,0.00,0.000,6,0.000,0.000,2381,2211,3352,0,0,1,0,0,0
$GC,2932,-1.32,-146.0,273.4,-9.4,289,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2211,3349,0,0,0,0,0,0
$GC,3251,-1.32,-146.0,303.1,-9.2,319,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2214,3352,0,0,0,0,0,0
$GC,3569,-1.32,-146.0,332.7,-9.4,349,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2213,3352,0,0,0,0,0,0
$GC,3888,-1.32,-146.0,362.3,-9.4,379,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2206,3354,0,0,0,0,0,0
$GC,4207,-1.32,-146.0,391.9,-9.2,409,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2214,3350,0,0,0,0,0,0
$GC,4526,-1.32,-146.0,421.5,-9.3,439,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2218,3351,0,0,0,0,0,0
$STATE,4831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4831,begin apogee
$GC,4838,-0.31,0.0,450.1,9.3,468,4987,1.08,0.00,144.68,0.001,6,0.000,0.000,2609,2452,2747,0,0,0,0,0,0
$STATE,4990,end apogee,CONTROL_FINISHED_OK
$STATE,4990,begin climb
$GC,4992,1.32,146.0,452.7,0.0,483,5141,1.70,0.00,143.57,0.001,6,0.000,0.000,2969,2452,2156,0,0,0,0,0,0
$GC,5457,1.32,146.0,385.8,16.0,528,5463,0.30,3.03,0.00,0.000,4,0.000,0.000,2905,832,2153,0,0,1,0,0,0
$GC,5490,1.32,146.0,381.3,12.0,530,5496,0.40,2.70,0.00,0.000,6,0.000,0.000,2976,2347,2150,0,0,1,0,0,0
$GC,5815,1.32,146.0,329.3,16.3,561,5817,0.22,0.00,0.00,0.000,6,0.000,0.000,2928,2344,2153,0,0,0,0,0,0
$GC,6134,1.32,146.0,286.4,13.3,591,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2350,2154,0,0,0,0,0,0
$GC,6455,1.32,146.0,243.7,13.3,621,6457,0.35,0.00,0.00,0.000,6,0.000,0.000,2986,2348,2152,0,0,0,0,0,0
$GC,6772,1.32,146.0,190.4,17.0,651,6774,0.47,0.00,0.00,0.000,6,0.000,0.000,2904,2347,2152,1,0,0,0,0,0
$GC,7089,1.32,146.0,151.4,12.0,681,7095,0.30,2.80,0.00,0.000,4,0.000,0.000,2976,952,2151,0,0,3,0,0,0
$GC,7111,1.32,146.0,148.0,15.6,682,7117,0.28,2.90,0.00,0.000,6,0.000,0.000,2931,2354,2157,0,0,1,0,0,0
$GC,7436,1.32,146.0,103.6,13.5,713,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2346,2152,0,0,0,0,0,0
$GC,7756,1.32,146.0,60.2,13.6,743,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2352,2154,0,0,0,0,0,0
$GC,8076,1.32,146.0,16.6,14.0,775,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2351,2158,0,0,0,0,0,0
$GC,8149,1.32,146.0,6.3,13.6,788,8155,0.00,2.60,0.00,0.000,4,0.000,0.000,2927,873,2153,0,0,2,0,0,0
$GC,8172,1.32,146.0,3.3,14.0,792,8177,0.00,2.60,0.00,0.000,6,0.000,0.000,2929,2347,2150,0,0,1,0,0,0
$STATE,8180,end climb,SURFACE_DEPTH_REACHED
$STATE,8180,begin surface coast
$FINISH,-0.0,1.027699
$STATE,8192,end surface coast,CONTROL_FINISHED_OK
$STATE,8193,begin surface
$SM_CCo,8216,67.25,0.001,0,0,1732,250.21
$SM_GC,-0.00,0.00,0.00,67.25,0.000,0.000,0.001,333,2262,1732,-10.68,0.90,250.21
$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,1079027508
$INTERNAL_PRESSURE,16.0162
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.5,999.0
$24V_AH,24.1,95.059
$10V_AH,10.7,24.431
$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,28.225,32.950,288.250,67.250,0.000,0.000,0.000,80.691,9.750,0.000,17.109,1285.475,5780.556,455.053,715.229,280.957,0.000,1037.354,0.000,604.364,0.000,53.756,0.000
$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,638.289,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129492
$DATA_FILE_SIZE,22113,796
$CAP_FILE_SIZE,85655,0
$CFSIZE,260165632,245305344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,15,0,0
$SOUNDSPEED,1472.3
$GPS,021009,194423,6633.965,-6007.400,32,1.1,32,18.0