version: 66.07
glider: 99
mission: 63
dive: 231
start: 10 5 109 3 1 26
data:
$ID,99
$MISSION,63
$DIVE,231
$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,-823296.31
$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,62
$R_STBD_OVSHOOT,59
$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
$GPS1,025704,6646.072,-6011.211,10,1.1,10,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,030105,6646.072,-6011.211,31,1.1,31,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_ADD1_EB
$TGT_LATLONG,6647.000,-5956.000
$TGT_RADIUS,10000.000
$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,63.2,11237,-18.1,-10.000
$D_GRID,578
$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,-53.58,0.000,6,0.000,0.000,334,2268,3348,0,0,0,0,0,0
$GC,75,-1.32,-146.0,2.1,-8.9,11,90,10.12,3.08,0.00,0.000,4,0.000,0.000,2391,667,3348,1,0,1,0,0,0
$GC,119,-1.32,-146.0,13.6,-9.5,19,128,0.47,3.38,0.00,0.000,6,0.000,0.000,2279,2362,3355,1,0,4,0,0,0
$GC,200,-1.32,-146.0,25.4,-15.4,31,203,0.73,0.00,0.00,0.000,6,0.000,0.000,2390,2363,3350,1,0,0,0,0,0
$GC,392,-1.32,-146.0,44.8,-9.9,49,397,0.25,3.12,0.00,0.000,4,0.000,0.000,2351,679,3353,0,0,2,0,0,0
$GC,413,-1.32,-146.0,47.4,-11.0,50,420,0.45,2.85,0.00,0.000,6,0.000,0.000,2417,2245,3354,0,0,2,0,0,0
$GC,612,-1.32,-146.0,64.4,-8.6,69,614,0.70,0.00,0.00,0.000,6,0.000,0.000,2267,2252,3350,0,0,0,0,0,0
$GC,930,-1.32,-146.0,114.8,-15.8,99,932,0.85,0.00,0.00,0.000,6,0.000,0.000,2438,2250,3351,1,0,0,0,0,0
$GC,1249,-1.32,-146.0,141.0,-8.0,129,1251,0.47,0.00,0.00,0.000,6,0.000,0.000,2346,2248,3354,1,0,0,0,0,0
$GC,1569,-1.32,-146.0,178.7,-11.7,159,1571,0.22,0.00,0.00,0.000,6,0.000,0.000,2392,2246,3347,0,0,0,0,0,0
$GC,1886,-1.32,-146.0,210.5,-9.9,189,1891,0.00,2.60,0.00,0.000,4,0.000,0.000,2390,810,3350,0,0,0,0,0,0
$GC,1908,-1.32,-146.0,212.9,-10.1,190,1913,0.00,2.58,0.00,0.000,6,0.000,0.000,2393,2273,3348,0,0,1,0,0,0
$GC,2233,-1.32,-146.0,245.0,-9.9,221,2235,0.28,0.00,0.00,0.000,6,0.000,0.000,2353,2275,3349,0,0,0,0,0,0
$GC,2551,-1.32,-146.0,282.7,-11.8,251,2557,0.28,2.92,0.00,0.000,4,0.000,0.000,2411,657,3350,0,0,2,0,0,0
$GC,2573,-1.32,-146.0,284.9,-9.8,252,2579,0.35,2.90,0.00,0.000,6,0.000,0.000,2341,2286,3349,0,0,1,0,0,0
$GC,2898,-1.32,-146.0,324.9,-12.3,283,2900,0.32,0.00,0.00,0.000,6,0.000,0.000,2410,2290,3353,0,0,0,0,0,0
$GC,3217,-1.32,-146.0,355.4,-9.5,313,3221,0.00,2.67,0.00,0.000,4,0.000,0.000,2399,778,3349,0,0,0,0,0,0
$GC,3245,-1.32,-146.0,358.1,-9.3,315,3251,0.32,2.88,0.00,0.000,6,0.000,0.000,2354,2297,3357,0,0,1,0,0,0
$GC,3569,-1.32,-146.0,395.3,-11.5,345,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2299,3352,0,0,0,0,0,0
$GC,3888,-1.32,-146.0,432.1,-11.4,375,3893,0.00,3.15,0.00,0.000,4,0.000,0.000,2352,662,3354,0,0,2,0,0,0
$GC,3920,-1.32,-146.0,435.9,-11.7,377,3925,0.00,2.80,0.00,0.000,6,0.000,0.000,2359,2248,3355,0,0,2,0,0,0
$STATE,4051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4051,begin apogee
$GC,4058,-0.31,0.0,451.2,11.4,390,4207,1.30,0.00,144.40,0.001,6,0.000,0.000,2632,2363,2753,0,0,0,0,0,0
$STATE,4210,end apogee,CONTROL_FINISHED_OK
$STATE,4210,begin climb
$GC,4213,1.32,146.0,454.6,0.0,405,4362,1.62,0.00,143.02,0.001,6,0.000,0.000,2968,2363,2154,0,0,0,0,0,0
$GC,4678,1.32,146.0,391.2,15.3,450,4680,0.28,0.00,0.00,0.000,6,0.000,0.000,2905,2370,2157,0,0,0,0,0,0
$GC,4998,1.32,146.0,354.3,11.4,480,5003,0.32,2.55,0.00,0.000,4,0.000,0.000,2981,915,2151,0,0,1,0,0,0
$GC,5026,1.32,146.0,349.9,15.5,482,5032,0.35,2.60,0.00,0.000,6,0.000,0.000,2910,2395,2152,0,0,1,0,0,0
$GC,5351,1.32,146.0,311.1,11.8,512,5353,0.47,0.00,0.00,0.000,6,0.000,0.000,3010,2393,2156,1,0,0,0,0,0
$GC,5669,1.32,146.0,254.1,18.0,542,5674,0.43,2.62,0.00,0.000,4,0.000,0.000,2921,907,2152,0,0,0,0,0,0
$GC,5698,1.32,146.0,250.2,12.9,544,5703,0.30,2.67,0.00,0.000,6,0.000,0.000,2987,2500,2150,0,0,1,0,0,0
$GC,6022,1.32,146.0,197.3,16.4,574,6027,0.32,2.85,0.00,0.000,4,0.000,0.000,2926,901,2148,0,0,1,0,0,0
$GC,6061,1.32,146.0,192.0,12.8,577,6066,0.12,2.58,0.00,0.000,6,0.000,0.000,2943,2340,2154,0,0,1,0,0,0
$GC,6385,1.32,146.0,147.9,13.8,607,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2339,2156,0,0,0,0,0,0
$GC,6706,1.32,146.0,104.6,13.6,637,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2329,2152,0,0,0,0,0,0
$GC,7025,1.32,146.0,61.2,13.5,667,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2337,2155,0,0,0,0,0,0
$GC,7343,1.32,146.0,17.8,13.8,698,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2337,2156,0,0,0,0,0,0
$GC,7417,1.32,146.0,7.6,14.0,711,7421,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2322,2159,0,0,0,0,0,0
$STATE,7459,end climb,SURFACE_DEPTH_REACHED
$STATE,7459,begin surface coast
$FINISH,-0.0,1.027343
$STATE,7471,end surface coast,CONTROL_FINISHED_OK
$STATE,7472,begin surface
$SM_CCo,7496,67.53,0.001,0,0,1728,250.21
$SM_GC,-0.00,0.00,0.00,67.53,0.000,0.000,0.001,337,2209,1728,-10.66,-0.51,250.21
$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,1078945152
$INTERNAL_PRESSURE,15.9283
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,426.0,999.0
$24V_AH,24.1,101.190
$10V_AH,10.7,25.395
$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,34.450,51.425,287.425,67.525,0.000,0.000,0.000,81.336,9.750,0.000,34.064,1244.429,5131.803,466.808,687.452,281.798,0.000,1020.689,0.000,560.551,2160.000,55.900,0.000
$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,582.186,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129548
$DATA_FILE_SIZE,22124,721
$CAP_FILE_SIZE,86460,0
$CFSIZE,260165632,244285440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,6,25,0,0
$SOUNDSPEED,1458.1
$GPS,051009,050902,6646.526,-6008.742,31,1.1,31,18.0