version: 66.07
glider: 99
mission: 63
dive: 235
start: 10 5 109 11 46 31
data:
$ID,99
$MISSION,63
$DIVE,235
$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,-823356.75
$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,37
$R_STBD_OVSHOOT,0
$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
$GPS1,114235,6647.879,-6001.303,8,1.1,8,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,114610,6647.879,-6001.303,13,1.1,13,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$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,63.2,37798,-18.1,-10.000
$D_GRID,690
$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,-53.15,0.000,6,0.000,0.000,322,2229,3344,0,0,0,0,0,0
$GC,75,-1.32,-146.0,2.2,-9.4,11,90,10.15,2.58,0.00,0.000,4,0.000,0.000,2396,3680,3341,0,0,1,0,0,0
$GC,107,-1.32,-146.0,12.4,-18.0,17,113,0.30,2.67,0.00,0.000,6,0.000,0.000,2355,2162,3345,0,0,2,0,0,0
$GC,181,-1.32,-146.0,20.5,-11.3,30,182,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2168,3342,0,0,0,0,0,0
$GC,372,-1.32,-146.0,42.5,-11.6,48,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2165,3340,0,0,0,0,0,0
$GC,563,-1.32,-146.0,64.4,-11.5,66,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2163,3343,0,0,0,0,0,0
$GC,886,-1.32,-146.0,101.0,-11.4,96,890,0.00,2.72,0.00,0.000,4,0.000,0.000,2352,3685,3344,0,0,0,0,0,0
$GC,918,-1.32,-146.0,105.2,-11.4,98,924,0.00,2.70,0.00,0.000,6,0.000,0.000,2354,2180,3344,0,0,1,0,0,0
$GC,1243,-1.32,-146.0,142.4,-11.4,129,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2176,3347,0,0,0,0,0,0
$GC,1561,-1.32,-146.0,179.0,-11.4,159,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2176,3343,0,0,0,0,0,0
$GC,1880,-1.32,-146.0,215.6,-11.4,189,1884,0.00,2.65,0.00,0.000,4,0.000,0.000,2351,3713,3343,0,0,0,0,0,0
$GC,1907,-1.32,-146.0,218.8,-11.6,191,1912,0.00,2.83,0.00,0.000,6,0.000,0.000,2350,2149,3345,0,0,0,0,0,0
$GC,2232,-1.32,-146.0,255.9,-11.5,221,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2145,3347,0,0,0,0,0,0
$GC,2551,-1.32,-146.0,292.5,-11.4,251,2555,0.00,2.80,0.00,0.000,4,0.000,0.000,2355,3792,3345,0,0,3,0,0,0
$GC,2583,-1.32,-146.0,296.4,-11.6,253,2588,0.00,3.08,0.00,0.000,6,0.000,0.000,2354,2222,3346,0,0,3,0,0,0
$GC,2908,-1.32,-146.0,333.5,-11.4,284,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2220,3346,0,0,0,0,0,0
$GC,3233,-1.32,-146.0,370.1,-11.5,314,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2232,3340,0,0,0,0,0,0
$GC,3557,-1.32,-146.0,408.1,-11.5,345,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2212,3345,0,0,0,0,0,0
$GC,3876,-1.32,-146.0,444.6,-11.3,375,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2224,3348,0,0,0,0,0,0
$STATE,3927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3927,begin apogee
$GC,3934,-0.31,0.0,450.7,11.6,380,4081,1.50,0.00,142.90,0.001,6,0.000,0.000,2597,2418,2750,1,0,0,0,0,0
$STATE,4084,end apogee,CONTROL_FINISHED_OK
$STATE,4084,begin climb
$GC,4087,1.32,146.0,454.4,0.0,395,4240,1.85,2.50,142.38,0.001,4,0.000,0.000,2964,3686,2157,0,0,2,0,0,0
$GC,4262,1.32,146.0,436.5,14.2,412,4268,0.00,2.53,0.00,0.000,6,0.000,0.000,2958,2340,2150,0,0,0,0,0,0
$GC,4587,1.32,146.0,387.5,15.3,442,4591,0.00,2.67,0.00,0.000,4,0.000,0.000,2956,787,2153,0,0,0,0,0,0
$GC,4607,1.32,146.0,384.2,15.2,443,4613,0.00,2.97,0.00,0.000,6,0.000,0.000,2956,2420,2151,0,0,1,0,0,0
$GC,4932,1.32,146.0,334.4,15.4,474,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2419,2152,0,0,0,0,0,0
$GC,5254,1.32,146.0,285.6,15.3,504,5259,0.00,2.78,0.00,0.000,4,0.000,0.000,2956,856,2153,0,0,1,0,0,0
$GC,5294,1.32,146.0,279.1,15.7,507,5300,0.62,2.83,0.00,0.000,6,0.000,0.000,2845,2406,2155,1,0,0,0,0,0
$GC,5619,1.35,174.1,249.7,8.7,537,5651,0.73,0.00,29.15,0.001,6,0.000,0.000,2982,2395,2038,0,0,0,0,0,0
$GC,5968,1.35,174.1,186.9,18.1,570,5973,0.22,2.90,0.00,0.000,4,0.000,0.000,2936,839,2040,0,0,1,0,0,0
$GC,6000,1.35,174.1,181.6,14.9,572,6006,0.00,2.95,0.00,0.000,6,0.000,0.000,2931,2574,2035,0,0,2,0,0,0
$GC,6325,1.35,174.1,133.4,15.1,603,6330,0.00,2.97,0.00,0.000,4,0.000,0.000,2930,970,2036,0,0,1,0,0,0
$GC,6380,1.35,174.1,125.3,14.8,607,6385,0.00,3.05,0.00,0.000,6,0.000,0.000,2932,2471,2036,0,0,2,0,0,0
$GC,6705,1.35,174.1,78.5,14.2,638,6709,0.00,2.95,0.00,0.000,4,0.000,0.000,2934,871,2042,0,0,1,0,0,0
$GC,6737,1.35,174.1,73.8,14.5,640,6742,0.00,2.75,0.00,0.000,6,0.000,0.000,2930,2428,2034,0,0,2,0,0,0
$GC,7062,1.35,174.1,29.9,13.1,671,7066,0.00,2.80,0.00,0.000,4,0.000,0.000,2931,893,2038,0,0,0,0,0,0
$GC,7089,1.35,174.1,26.2,12.9,673,7094,0.00,2.80,0.00,0.000,6,0.000,0.000,2933,2461,2037,0,0,1,0,0,0
$STATE,7280,end climb,SURFACE_DEPTH_REACHED
$STATE,7281,begin surface coast
$FINISH,-0.0,1.026412
$STATE,7298,end surface coast,CONTROL_FINISHED_OK
$STATE,7298,begin surface
$SM_CCo,7323,49.62,0.001,0,0,1726,250.45
$SM_GC,-0.00,0.00,0.00,49.62,0.000,0.000,0.001,292,2214,1726,-10.90,-0.51,250.45
$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,1078995250
$INTERNAL_PRESSURE,15.9967
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.1,999.0
$24V_AH,24.1,102.124
$10V_AH,10.7,25.541
$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,28.525,62.275,314.425,49.625,0.000,0.000,0.000,81.095,9.750,0.000,13.616,1195.483,4984.964,466.924,670.168,279.574,0.000,1022.602,0.000,561.296,2160.000,59.825,0.000
$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,566.370,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129564
$DATA_FILE_SIZE,22110,705
$CAP_FILE_SIZE,83939,0
$CFSIZE,260165632,244125696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,25,0,0
$SOUNDSPEED,1461.2
$GPS,051009,135049,6648.251,-5958.750,24,1.1,24,18.0