version: 66.07
glider: 99
mission: 63
dive: 293
start: 10 11 109 0 40 16
data:
$ID,99
$MISSION,63
$DIVE,293
$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,-824889.56
$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,3
$R_STBD_OVSHOOT,77
$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
$GPS1,003557,6703.435,-5726.083,30,1.1,30,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-70.0
$GPS2,003954,6703.435,-5726.083,27,1.1,27,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$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,73.7,27513,-18.1,-10.000
$D_GRID,811
$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,-53.28,0.000,6,0.000,0.000,341,2088,3338,0,0,0,0,0,0
$GC,75,-1.32,-146.0,2.9,-14.2,11,90,10.10,2.97,0.00,0.000,4,0.000,0.000,2382,3633,3339,0,0,4,0,0,0
$GC,124,-1.32,-146.0,16.0,-10.8,20,129,0.00,2.78,0.00,0.000,6,0.000,0.000,2389,2088,3342,0,0,1,0,0,0
$GC,195,-1.32,-146.0,23.7,-11.1,30,196,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2094,3334,0,0,0,0,0,0
$GC,386,-1.32,-146.0,44.1,-10.6,48,391,0.00,2.97,0.00,0.000,4,0.000,0.000,2382,3795,3340,0,0,2,0,0,0
$GC,407,-1.32,-146.0,46.4,-10.4,49,413,0.00,2.92,0.00,0.000,6,0.000,0.000,2382,2161,3342,0,0,2,0,0,0
$GC,610,-1.32,-146.0,66.7,-10.3,68,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2151,3337,0,0,0,0,0,0
$GC,937,-1.32,-146.0,99.2,-9.8,99,941,0.00,2.62,0.00,0.000,4,0.000,0.000,2383,3576,3340,0,0,0,0,0,0
$GC,964,-1.32,-146.0,102.1,-9.4,101,969,0.00,3.05,0.00,0.000,6,0.000,0.000,2384,2177,3341,0,0,4,0,0,0
$GC,1288,-1.32,-146.0,132.9,-9.5,131,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2178,3340,0,0,0,0,0,0
$GC,1608,-1.32,-146.0,162.6,-9.2,161,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2175,3339,0,0,0,0,0,0
$GC,1926,-1.32,-146.0,191.9,-9.3,191,1930,0.00,2.58,0.00,0.000,4,0.000,0.000,2383,3618,3343,0,0,1,0,0,0
$GC,1958,-1.32,-146.0,195.0,-9.0,193,1963,0.00,2.65,0.00,0.000,6,0.000,0.000,2386,2156,3343,0,0,1,0,0,0
$GC,2284,-1.32,-146.0,224.5,-9.0,224,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2156,3341,0,0,0,0,0,0
$GC,2601,-1.32,-146.0,253.5,-9.1,254,2606,0.00,2.70,0.00,0.000,4,0.000,0.000,2381,3737,3339,0,0,1,0,0,0
$GC,2629,-1.32,-146.0,256.0,-9.2,256,2634,0.00,2.80,0.00,0.000,6,0.000,0.000,2388,2148,3344,0,0,0,0,0,0
$GC,2954,-1.32,-146.0,285.3,-9.0,286,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2150,3334,0,0,0,0,0,0
$GC,3272,-1.32,-146.0,314.0,-9.0,316,3277,0.00,2.80,0.00,0.000,4,0.000,0.000,2383,3718,3335,0,0,0,0,0,0
$GC,3305,-1.32,-146.0,317.0,-8.9,318,3311,0.38,2.85,0.00,0.000,6,0.000,0.000,2320,2101,3342,0,0,0,0,0,0
$GC,3630,-1.32,-146.0,354.9,-11.7,349,3635,0.40,2.67,0.00,0.000,4,0.000,0.000,2400,3603,3341,0,0,1,0,0,0
$GC,3658,-1.32,-146.0,357.6,-8.9,351,3664,0.22,2.60,0.00,0.000,6,0.000,0.000,2354,2131,3343,0,0,0,0,0,0
$GC,3984,-1.32,-146.0,390.9,-10.3,381,3988,0.00,2.67,0.00,0.000,4,0.000,0.000,2350,3599,3336,0,0,0,0,0,0
$GC,4004,-1.32,-146.0,393.3,-10.3,382,4010,0.00,2.95,0.00,0.000,6,0.000,0.000,2353,2064,3338,0,0,4,0,0,0
$GC,4329,-1.32,-146.0,426.7,-10.3,413,4335,0.20,3.08,0.00,0.000,4,0.000,0.000,2399,3629,3340,0,0,2,0,0,0
$GC,4370,-1.32,-146.0,430.2,-8.5,416,4376,0.30,2.95,0.00,0.000,6,0.000,0.000,2356,2124,3337,0,0,2,0,0,0
$STATE,4567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4567,begin apogee
$GC,4574,-0.31,0.0,450.3,10.2,434,4721,1.33,0.00,142.70,0.001,6,0.000,0.000,2608,2479,2750,0,0,0,0,0,0
$STATE,4724,end apogee,CONTROL_FINISHED_OK
$STATE,4724,begin climb
$GC,4727,1.32,146.0,452.9,0.0,449,4878,1.75,0.00,141.80,0.001,6,0.000,0.000,2956,2486,2157,0,0,0,0,0,0
$GC,5197,1.32,146.0,386.9,15.4,494,5201,0.00,2.95,0.00,0.000,4,0.000,0.000,2957,817,2155,0,0,0,0,0,0
$GC,5229,1.32,146.0,381.8,15.3,496,5234,0.00,2.85,0.00,0.000,6,0.000,0.000,2958,2398,2149,0,0,3,0,0,0
$GC,5553,1.32,146.0,331.8,15.3,527,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2411,2158,0,0,0,0,0,0
$GC,5875,1.32,146.0,282.5,15.5,557,5879,0.00,2.88,0.00,0.000,4,0.000,0.000,2966,794,2154,0,0,0,0,0,0
$GC,5913,1.32,146.0,276.2,15.9,560,5918,0.00,2.95,0.00,0.000,6,0.000,0.000,2956,2475,2156,0,0,2,0,0,0
$GC,6237,1.32,146.0,226.3,15.2,590,6242,0.00,3.08,0.00,0.000,4,0.000,0.000,2961,840,2152,0,0,0,0,0,0
$GC,6265,1.32,146.0,222.0,15.7,592,6270,0.00,3.25,0.00,0.000,6,0.000,0.000,2954,2446,2149,0,0,1,0,0,0
$GC,6590,1.32,146.0,172.4,15.2,622,6594,0.00,2.95,0.00,0.000,4,0.000,0.000,2965,810,2154,0,0,0,0,0,0
$GC,6611,1.32,146.0,169.1,15.8,623,6616,0.00,2.88,0.00,0.000,6,0.000,0.000,2959,2412,2152,0,0,0,0,0,0
$GC,6937,1.32,146.0,120.0,15.1,654,6947,0.00,3.12,2.38,0.000,4,0.000,0.000,2953,833,2156,0,0,2,0,0,0
$GC,6963,1.32,146.0,115.7,15.3,656,6968,0.00,2.80,0.00,0.000,6,0.000,0.000,2956,2402,2149,0,0,1,0,0,0
$GC,7288,1.32,146.0,67.9,14.4,687,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2406,2152,0,0,0,0,0,0
$GC,7609,1.32,146.0,23.4,13.7,717,7614,0.00,3.15,0.00,0.000,4,0.000,0.000,2958,809,2152,0,0,3,0,0,0
$GC,7636,1.32,146.0,19.3,13.5,719,7641,0.00,3.25,0.00,0.000,6,0.000,0.000,2954,2582,2153,0,0,1,0,0,0
$GC,7709,1.32,146.0,9.5,13.7,732,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2583,2151,0,0,0,0,0,0
$STATE,7768,end climb,SURFACE_DEPTH_REACHED
$STATE,7768,begin surface coast
$FINISH,-0.0,1.026886
$STATE,7780,end surface coast,CONTROL_FINISHED_OK
$STATE,7780,begin surface
$SM_CCo,7805,67.43,0.001,0,0,1727,250.45
$SM_GC,-0.01,0.00,0.00,67.43,0.000,0.000,0.001,320,2115,1727,-10.73,-3.25,250.45
$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,1078933539
$INTERNAL_PRESSURE,15.9772
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.6,999.0
$24V_AH,24.1,116.283
$10V_AH,10.7,27.783
$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,27.725,88.125,286.875,67.425,0.000,0.000,0.000,81.944,9.750,0.000,30.436,1273.828,5327.753,490.885,720.231,305.851,0.000,1084.732,0.000,600.439,720.000,57.967,0.000
$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,599.613,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129548
$DATA_FILE_SIZE,22097,745
$CAP_FILE_SIZE,92160,0
$CFSIZE,260165632,241709056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,0,0
$SOUNDSPEED,1470.4
$GPS,111009,025242,6703.608,-5723.354,12,1.1,12,18.0