version: 66.07
glider: 99
mission: 63
dive: 276
start: 10 9 109 10 4 51
data:
$ID,99
$MISSION,63
$DIVE,276
$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,-3
$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,-824429.44
$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,35
$R_STBD_OVSHOOT,6
$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
$GPS1,100025,6659.722,-5811.746,23,1.1,23,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,100430,6659.722,-5811.746,34,1.1,34,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_ADD4_EB
$TGT_LATLONG,6659.000,-5735.000
$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,74.9,26643,-18.1,-10.000
$D_GRID,966
$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,-53.15,0.000,6,0.000,0.000,330,2255,3343,0,0,0,0,0,0
$GC,74,-1.32,-146.0,3.8,-18.8,11,89,10.15,0.00,0.00,0.000,6,0.000,0.000,2428,2243,3342,1,0,0,0,0,0
$GC,157,-1.32,-146.0,20.3,-9.2,26,159,0.38,0.00,0.00,0.000,6,0.000,0.000,2353,2244,3345,0,0,0,0,0,0
$GC,348,-1.32,-146.0,44.5,-12.3,44,349,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2254,3341,0,0,0,0,0,0
$GC,541,-1.32,-146.0,67.5,-11.9,62,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2245,3342,0,0,0,0,0,0
$GC,860,-1.32,-146.0,104.0,-11.1,92,864,0.00,2.62,0.00,0.000,4,0.000,0.000,2351,789,3336,0,0,1,0,0,0
$GC,881,-1.32,-146.0,106.7,-11.5,93,886,0.00,2.78,0.00,0.000,6,0.000,0.000,2353,2294,3345,0,0,1,0,0,0
$GC,1205,-1.32,-146.0,142.4,-10.9,124,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2297,3342,0,0,0,0,0,0
$GC,1524,-1.32,-146.0,176.6,-10.6,154,1528,0.00,2.62,0.00,0.000,4,0.000,0.000,2356,776,3343,0,0,1,0,0,0
$GC,1556,-1.32,-146.0,180.1,-10.1,156,1562,0.00,2.78,0.00,0.000,6,0.000,0.000,2360,2377,3345,0,0,1,0,0,0
$GC,1881,-1.32,-146.0,214.4,-10.4,187,1885,0.00,2.95,0.00,0.000,4,0.000,0.000,2350,738,3340,0,0,0,0,0,0
$GC,1913,-1.32,-146.0,217.9,-10.4,189,1918,0.00,2.78,0.00,0.000,6,0.000,0.000,2350,2300,3342,0,0,1,0,0,0
$GC,2238,-1.32,-146.0,251.7,-10.5,220,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2303,3340,0,0,0,0,0,0
$GC,2556,-1.32,-146.0,284.8,-10.3,250,2561,0.00,2.83,0.00,0.000,4,0.000,0.000,2358,774,3345,0,0,1,0,0,0
$GC,2596,-1.32,-146.0,288.9,-10.7,253,2601,0.00,2.75,0.00,0.000,6,0.000,0.000,2357,2304,3344,0,0,1,0,0,0
$GC,2920,-1.32,-146.0,322.4,-10.2,283,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2316,3344,0,0,0,0,0,0
$GC,3239,-1.32,-146.0,355.3,-10.2,313,3243,0.00,2.95,0.00,0.000,4,0.000,0.000,2360,673,3341,0,0,0,0,0,0
$GC,3277,-1.32,-146.0,359.2,-10.3,316,3282,0.00,2.97,0.00,0.000,6,0.000,0.000,2361,2327,3338,0,0,1,0,0,0
$GC,3602,-1.32,-146.0,392.5,-10.4,346,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2335,3340,0,0,0,0,0,0
$GC,3921,-1.32,-146.0,425.1,-10.3,376,3926,0.00,2.85,0.00,0.000,4,0.000,0.000,2357,674,3342,0,0,2,0,0,0
$GC,3960,-1.32,-146.0,429.2,-10.2,379,3965,0.00,2.97,0.00,0.000,6,0.000,0.000,2354,2433,3338,0,0,1,0,0,0
$STATE,4167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4167,begin apogee
$GC,4174,-0.31,0.0,450.3,10.1,398,4321,1.33,0.00,142.38,0.001,6,0.000,0.000,2621,2211,2748,0,0,0,0,0,0
$STATE,4324,end apogee,CONTROL_FINISHED_OK
$STATE,4324,begin climb
$GC,4327,1.32,146.0,452.8,0.0,413,4479,1.65,2.55,141.85,0.001,4,0.000,0.000,2986,3658,2154,1,0,1,0,0,0
$GC,4518,1.32,146.0,427.2,17.2,431,4524,0.55,2.45,0.00,0.000,6,0.000,0.000,2890,2253,2150,1,0,1,0,0,0
$GC,4843,1.32,146.0,390.1,11.3,462,4846,0.70,0.00,0.00,0.000,6,0.000,0.000,3017,2257,2155,1,0,0,0,0,0
$GC,5162,1.32,146.0,328.3,19.6,492,5167,0.55,2.58,0.00,0.000,4,0.000,0.000,2897,3687,2155,1,0,0,0,0,0
$GC,5194,1.32,146.0,323.8,11.8,494,5200,0.40,2.55,0.00,0.000,6,0.000,0.000,2957,2274,2155,0,0,0,0,0,0
$GC,5519,1.32,146.0,274.9,15.1,525,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2283,2157,0,0,0,0,0,0
$GC,5841,1.32,146.0,226.6,15.4,555,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2289,2159,0,0,0,0,0,0
$GC,6159,1.32,146.0,178.7,15.2,585,6164,0.00,2.58,0.00,0.000,4,0.000,0.000,2953,3745,2148,0,0,1,0,0,0
$GC,6187,1.32,146.0,174.0,15.1,587,6192,0.00,2.62,0.00,0.000,6,0.000,0.000,2953,2285,2154,0,0,2,0,0,0
$GC,6511,1.32,146.0,125.9,14.9,617,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2278,2155,0,0,0,0,0,0
$GC,6833,1.32,146.0,79.9,14.2,647,6834,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2279,2150,0,0,0,0,0,0
$GC,7151,1.32,146.0,36.1,13.2,677,7158,0.00,2.45,0.05,0.000,4,0.000,0.000,2954,3696,2155,0,0,0,0,0,0
$GC,7179,1.32,146.0,31.9,13.4,679,7185,0.00,2.60,0.00,0.000,6,0.000,0.000,2953,2288,2152,0,0,2,0,0,0
$GC,7385,1.32,146.0,6.3,12.8,707,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2288,2156,0,0,0,0,0,0
$STATE,7415,end climb,SURFACE_DEPTH_REACHED
$STATE,7415,begin surface coast
$FINISH,-0.0,1.026549
$STATE,7435,end surface coast,CONTROL_FINISHED_OK
$STATE,7435,begin surface
$SM_CCo,7459,67.35,0.001,0,0,1724,250.45
$SM_GC,-0.00,0.00,0.00,67.35,0.000,0.000,0.001,337,2286,1724,-10.70,1.70,250.45
$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,1079000411
$INTERNAL_PRESSURE,16.0553
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.1,999.0
$24V_AH,24.1,112.169
$10V_AH,10.7,27.131
$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,28.800,54.550,284.275,67.350,0.000,0.000,0.000,82.154,9.750,0.000,36.329,1182.606,5157.125,454.249,699.070,285.359,0.000,1020.754,0.000,574.486,360.000,54.065,0.000
$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,575.269,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129568
$DATA_FILE_SIZE,22143,716
$CAP_FILE_SIZE,82678,0
$CFSIZE,260165632,242417664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,19,0,0
$SOUNDSPEED,1470.7
$GPS,091009,121139,6700.059,-5809.203,21,1.1,21,18.0