version: 66.07
glider: 99
mission: 63
dive: 212
start: 10 3 109 7 32 39
data:
$ID,99
$MISSION,63
$DIVE,212
$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,-822832.56
$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,49
$R_STBD_OVSHOOT,7
$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
$GPS1,072823,6635.022,-6021.112,13,1.1,14,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,073218,6635.022,-6021.112,28,1.1,28,18.0
$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,290.9,20593,-18.1,-10.000
$D_GRID,500
$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,-53.22,0.000,6,0.000,0.000,326,2236,3350,0,0,0,0,0,0
$GC,75,-1.32,-146.0,1.4,-5.2,11,90,10.23,2.60,0.00,0.000,4,0.000,0.000,2394,681,3343,2,0,3,0,0,0
$GC,107,-1.32,-146.0,10.5,-15.0,17,113,0.22,3.15,0.00,0.000,6,0.000,0.000,2352,2338,3343,0,0,3,0,0,0
$GC,181,-1.32,-146.0,18.1,-10.6,30,185,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2344,3341,0,0,0,0,0,0
$GC,256,-1.32,-146.0,26.1,-10.6,39,258,0.12,0.00,0.00,0.000,6,0.000,0.000,2373,2336,3348,0,0,0,0,0,0
$GC,448,-1.32,-146.0,44.9,-9.9,57,452,0.00,2.80,0.00,0.000,4,0.000,0.000,2368,714,3347,0,0,0,0,0,0
$GC,476,-1.32,-146.0,47.7,-9.8,59,480,0.00,2.88,0.00,0.000,6,0.000,0.000,2373,2329,3348,0,0,0,0,0,0
$GC,673,-1.32,-146.0,67.0,-9.9,77,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2327,3344,0,0,0,0,0,0
$GC,995,-1.32,-146.0,98.3,-9.8,107,1000,0.00,3.20,0.00,0.000,4,0.000,0.000,2376,626,3341,0,0,1,0,0,0
$GC,1027,-1.32,-146.0,102.0,-9.9,109,1033,0.00,3.10,0.00,0.000,6,0.000,0.000,2369,2349,3339,0,0,1,0,0,0
$GC,1352,-1.32,-146.0,133.8,-9.8,140,1357,0.00,2.90,0.00,0.000,4,0.000,0.000,2374,737,3349,0,0,0,0,0,0
$GC,1380,-1.32,-146.0,136.5,-9.7,142,1385,0.00,2.88,0.00,0.000,6,0.000,0.000,2372,2328,3345,0,0,0,0,0,0
$GC,1706,-1.32,-146.0,168.4,-10.0,172,1711,0.00,2.92,0.00,0.000,4,0.000,0.000,2379,669,3343,0,0,0,0,0,0
$GC,1736,-1.32,-146.0,171.3,-9.5,174,1741,0.00,3.05,0.00,0.000,6,0.000,0.000,2368,2342,3351,0,0,0,0,0,0
$GC,2060,-1.32,-146.0,203.4,-9.9,204,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2339,3349,0,0,0,0,0,0
$GC,2379,-1.32,-146.0,234.7,-9.7,234,2383,0.00,2.72,0.00,0.000,4,0.000,0.000,2378,868,3346,0,0,1,0,0,0
$GC,2422,-1.32,-146.0,239.1,-9.9,237,2428,0.00,2.85,0.00,0.000,6,0.000,0.000,2372,2336,3343,0,0,0,0,0,0
$GC,2748,-1.32,-146.0,270.9,-9.8,268,2752,0.00,2.75,0.00,0.000,4,0.000,0.000,2371,757,3351,0,0,0,0,0,0
$GC,2776,-1.32,-146.0,273.7,-9.9,270,2780,0.00,2.83,0.00,0.000,6,0.000,0.000,2370,2309,3346,0,0,0,0,0,0
$GC,3100,-1.32,-146.0,305.5,-9.7,300,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2302,3348,0,0,0,0,0,0
$GC,3419,-1.32,-146.0,336.9,-10.0,330,3423,0.00,2.72,0.00,0.000,4,0.000,0.000,2374,761,3344,0,0,0,0,0,0
$GC,3462,-1.32,-146.0,340.7,-10.0,333,3467,0.00,2.80,0.00,0.000,6,0.000,0.000,2376,2353,3351,0,0,1,0,0,0
$GC,3787,-1.32,-146.0,373.0,-10.0,363,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2355,3347,0,0,0,0,0,0
$GC,4104,-1.32,-146.0,404.3,-10.0,393,4109,0.00,2.72,0.00,0.000,4,0.000,0.000,2371,803,3347,0,0,0,0,0,0
$GC,4155,-1.32,-146.0,409.2,-10.0,397,4160,0.00,2.75,0.00,0.000,6,0.000,0.000,2367,2341,3350,0,0,1,0,0,0
$GC,4480,-1.32,-146.0,441.0,-9.8,427,4484,0.00,2.75,0.00,0.000,4,0.000,0.000,2377,781,3341,0,0,1,0,0,0
$GC,4508,-1.32,-146.0,443.8,-9.7,429,4512,0.00,2.70,0.00,0.000,6,0.000,0.000,2368,2326,3349,0,0,0,0,0,0
$STATE,4575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4575,begin apogee
$GC,4581,-0.31,0.0,450.6,9.7,435,4729,1.27,0.00,143.55,0.001,6,0.000,0.000,2615,2330,2750,0,0,0,0,0,0
$STATE,4732,end apogee,CONTROL_FINISHED_OK
$STATE,4732,begin climb
$GC,4735,1.32,146.0,453.1,0.0,450,4883,1.65,0.00,142.95,0.001,6,0.000,0.000,2966,2336,2154,0,0,0,0,0,0
$GC,5200,1.32,146.0,386.1,15.9,495,5202,0.38,0.00,0.00,0.000,6,0.000,0.000,2897,2332,2158,0,0,0,0,0,0
$GC,5519,1.32,146.0,349.7,11.3,525,5521,0.35,0.00,0.00,0.000,6,0.000,0.000,2989,2330,2160,0,0,0,0,0,0
$GC,5837,1.32,146.0,293.3,17.8,555,5839,0.43,0.00,0.00,0.000,6,0.000,0.000,2938,2328,2151,0,0,0,0,0,0
$GC,6156,1.32,146.0,249.6,13.6,585,6157,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2320,2156,0,0,0,0,0,0
$GC,6476,1.32,146.0,206.0,13.7,615,6477,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2327,2158,0,0,0,0,0,0
$GC,6795,1.32,146.0,162.4,13.6,645,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2331,2154,0,0,0,0,0,0
$GC,7115,1.32,146.0,118.9,13.6,675,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2333,2150,0,0,0,0,0,0
$GC,7443,1.32,146.0,74.1,13.7,706,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2322,2152,0,0,0,0,0,0
$GC,7771,1.32,146.0,29.3,13.8,737,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2328,2157,0,0,0,0,0,0
$STATE,7967,end climb,SURFACE_DEPTH_REACHED
$STATE,7969,begin surface coast
$FINISH,-0.0,1.027699
$STATE,7979,end surface coast,CONTROL_FINISHED_OK
$STATE,7979,begin surface
$SM_CCo,8003,67.70,0.001,0,0,1722,250.21
$SM_GC,-0.00,0.00,0.00,67.70,0.000,0.000,0.001,333,2196,1722,-10.64,-0.93,250.21
$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,1079048799
$INTERNAL_PRESSURE,15.9576
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.4,999.0
$24V_AH,24.1,96.560
$10V_AH,10.7,24.664
$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,27.575,57.325,286.500,67.700,0.000,0.000,0.000,80.465,9.750,0.000,28.829,1313.819,5517.771,468.315,726.894,287.819,0.000,1054.451,0.000,600.961,2160.000,54.320,0.000
$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,617.895,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129516
$DATA_FILE_SIZE,22138,769
$CAP_FILE_SIZE,89204,0
$CFSIZE,260165632,245063680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,13,0,0
$SOUNDSPEED,1472.3
$GPS,031009,094833,6635.333,-6023.783,23,1.1,23,18.0