version: 66.07
glider: 99
mission: 63
dive: 294
start: 10 11 109 2 57 1
data:
$ID,99
$MISSION,63
$DIVE,294
$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,-824915.62
$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,4
$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
$GPS1,025242,6703.608,-5723.354,12,1.1,12,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-70.0
$GPS2,025639,6703.608,-5723.354,22,1.1,22,18.0
$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,74.5,25555,-18.1,-10.000
$D_GRID,796
$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,-53.30,0.000,6,0.000,0.000,319,2125,3349,0,0,0,0,0,0
$GC,75,-1.32,-146.0,2.9,-13.8,11,90,10.48,2.75,0.00,0.000,4,0.000,0.000,2389,3655,3346,2,0,2,0,0,0
$GC,147,-1.32,-146.0,18.2,-10.4,24,152,0.00,2.95,0.00,0.000,6,0.000,0.000,2388,2103,3340,0,0,2,0,0,0
$GC,222,-1.32,-146.0,26.2,-10.6,33,223,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2105,3341,0,0,0,0,0,0
$GC,414,-1.32,-146.0,46.1,-10.5,51,419,0.25,2.95,0.00,0.000,4,0.000,0.000,2344,3751,3345,0,0,4,0,0,0
$GC,436,-1.32,-146.0,48.8,-11.3,52,441,0.00,3.20,0.00,0.000,6,0.000,0.000,2354,2085,3348,0,0,2,0,0,0
$GC,633,-1.32,-146.0,72.2,-11.8,71,635,0.25,0.00,0.00,0.000,6,0.000,0.000,2397,2083,3338,0,0,0,0,0,0
$GC,952,-1.32,-146.0,102.6,-9.3,101,957,0.00,3.12,0.00,0.000,4,0.000,0.000,2397,3741,3346,0,0,2,0,0,0
$GC,1003,-1.32,-146.0,107.3,-9.1,105,1008,0.00,3.03,0.00,0.000,6,0.000,0.000,2394,2125,3343,0,0,1,0,0,0
$GC,1327,-1.32,-146.0,137.1,-9.2,135,1329,0.25,0.00,0.00,0.000,6,0.000,0.000,2354,2127,3344,0,0,0,0,0,0
$GC,1646,-1.32,-146.0,171.2,-10.6,165,1651,0.25,2.85,0.00,0.000,4,0.000,0.000,2392,3689,3348,0,0,1,0,0,0
$GC,1690,-1.32,-146.0,175.3,-8.7,168,1696,0.40,3.10,0.00,0.000,6,0.000,0.000,2352,2132,3345,0,0,4,0,0,0
$GC,2016,-1.32,-146.0,209.2,-10.5,199,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2128,3344,0,0,0,0,0,0
$GC,2333,-1.32,-146.0,242.4,-10.4,229,2338,0.00,2.95,0.00,0.000,4,0.000,0.000,2360,3762,3341,0,0,0,0,0,0
$GC,2372,-1.32,-146.0,246.5,-10.3,232,2377,0.00,3.35,0.00,0.000,6,0.000,0.000,2355,2122,3346,0,0,3,0,0,0
$GC,2697,-1.32,-146.0,280.2,-10.5,262,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2121,3347,0,0,0,0,0,0
$GC,3015,-1.32,-146.0,313.2,-10.4,292,3019,0.00,2.78,0.00,0.000,4,0.000,0.000,2356,3664,3346,0,0,0,0,0,0
$GC,3054,-1.32,-146.0,317.2,-10.2,295,3058,0.00,2.67,0.00,0.000,6,0.000,0.000,2355,2161,3346,0,0,2,0,0,0
$GC,3379,-1.32,-146.0,350.7,-10.3,325,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2156,3345,0,0,0,0,0,0
$GC,3697,-1.32,-146.0,383.6,-10.3,355,3701,0.00,2.72,0.00,0.000,4,0.000,0.000,2360,3720,3345,0,0,2,0,0,0
$GC,3729,-1.32,-146.0,387.0,-10.5,357,3734,0.00,2.80,0.00,0.000,6,0.000,0.000,2350,2166,3348,0,0,1,0,0,0
$GC,4054,-1.32,-146.0,420.3,-10.2,388,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2155,3349,0,0,0,0,0,0
$STATE,4349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4349,begin apogee
$GC,4356,-0.31,0.0,450.8,10.4,416,4503,1.38,0.00,143.02,0.001,6,0.000,0.000,2636,2417,2751,0,0,0,0,0,0
$STATE,4506,end apogee,CONTROL_FINISHED_OK
$STATE,4506,begin climb
$GC,4509,1.32,146.0,453.0,0.0,431,4658,1.77,0.00,143.20,0.001,6,0.000,0.000,3018,2418,2149,0,0,0,0,0,0
$GC,4974,1.32,146.0,371.3,19.4,476,4980,0.52,2.80,0.00,0.000,4,0.000,0.000,2907,818,2152,1,0,1,0,0,0
$GC,5008,1.32,146.0,366.3,12.2,478,5014,0.40,2.80,0.00,0.000,6,0.000,0.000,2966,2421,2153,0,0,2,0,0,0
$GC,5333,1.32,146.0,314.8,15.9,509,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2417,2150,0,0,0,0,0,0
$GC,5653,1.32,146.0,263.7,16.2,539,5658,0.00,2.85,0.00,0.000,4,0.000,0.000,2968,811,2150,0,0,2,0,0,0
$GC,5692,1.32,146.0,257.2,15.9,542,5698,0.47,2.83,0.00,0.000,6,0.000,0.000,2919,2397,2159,1,0,1,0,0,0
$GC,6016,1.32,146.0,213.3,13.3,572,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2404,2152,0,0,0,0,0,0
$GC,6338,1.32,146.0,170.7,13.4,602,6342,0.00,2.88,0.00,0.000,4,0.000,0.000,2926,817,2157,0,0,0,0,0,0
$GC,6370,1.32,146.0,166.0,13.7,604,6375,0.00,3.22,0.00,0.000,6,0.000,0.000,2924,2435,2157,0,0,2,0,0,0
$GC,6695,1.32,146.0,123.0,13.1,635,6699,0.00,2.90,0.00,0.000,4,0.000,0.000,2920,885,2153,0,0,1,0,0,0
$GC,6715,1.32,146.0,120.2,13.0,636,6721,0.00,3.03,0.00,0.000,6,0.000,0.000,2935,2429,2157,0,0,0,0,0,0
$GC,7040,1.32,146.0,78.2,12.9,667,7045,0.00,2.80,0.00,0.000,4,0.000,0.000,2923,843,2155,0,0,0,0,0,0
$GC,7068,1.32,146.0,74.7,13.1,669,7072,0.00,2.83,0.00,0.000,6,0.000,0.000,2918,2436,2157,0,0,0,0,0,0
$GC,7392,1.32,146.0,34.6,12.3,699,7401,0.25,3.10,0.00,0.000,4,0.000,0.000,2969,667,2149,0,0,1,0,0,0
$GC,7411,1.32,146.0,31.9,12.6,700,7417,0.00,3.17,0.00,0.000,6,0.000,0.000,2973,2452,2153,0,0,1,0,0,0
$GC,7617,1.32,146.0,3.3,13.9,729,7621,0.25,0.00,0.00,0.000,6,0.000,0.000,2905,2447,2145,0,0,0,0,0,0
$STATE,7625,end climb,SURFACE_DEPTH_REACHED
$STATE,7625,begin surface coast
$FINISH,0.2,1.026874
$STATE,7637,end surface coast,CONTROL_FINISHED_OK
$STATE,7637,begin surface
$SM_CCo,7662,66.95,0.001,0,0,1727,250.45
$SM_GC,-0.00,0.00,0.00,66.95,0.000,0.000,0.001,327,2141,1727,-10.72,-2.21,250.45
$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,1078914184
$INTERNAL_PRESSURE,15.9674
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.7,999.0
$24V_AH,24.1,116.527
$10V_AH,10.7,27.822
$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,29.900,77.450,286.225,66.950,0.000,0.000,0.000,85.475,9.750,0.000,25.408,1248.348,5235.801,476.369,707.362,298.127,0.000,1057.429,0.000,581.554,2160.000,60.453,0.000
$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,591.959,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129464
$DATA_FILE_SIZE,22135,733
$CAP_FILE_SIZE,88736,0
$CFSIZE,260165632,241672192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,38,0,0
$SOUNDSPEED,1470.4
$GPS,111009,050714,6703.723,-5720.633,31,1.1,32,18.0