version: 66.07
glider: 99
mission: 63
dive: 338
start: 10 15 109 8 8 27
data:
$ID,99
$MISSION,63
$DIVE,338
$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,-826019.5
$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,84
$R_STBD_OVSHOOT,7
$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
$GPS1,080414,6650.869,-5822.042,21,1.1,21,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-70.0
$GPS2,080805,6650.869,-5822.042,16,1.1,16,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_ADD2_WB
$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,252.4,34918,-18.1,-10.000
$D_GRID,822
$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,-53.75,0.000,6,0.000,0.000,347,2302,3340,0,0,0,0,0,0
$GC,75,-1.32,-146.0,3.8,-18.7,11,90,10.23,2.67,0.00,0.000,4,0.000,0.000,2386,795,3358,1,0,0,0,0,0
$GC,124,-1.32,-146.0,17.7,-11.4,20,130,0.30,2.83,0.00,0.000,6,0.000,0.000,2342,2328,3355,0,0,2,0,0,0
$GC,200,-1.32,-146.0,27.9,-14.0,29,202,0.40,0.00,0.00,0.000,6,0.000,0.000,2425,2327,3364,0,0,0,0,0,0
$GC,392,-1.32,-146.0,46.6,-9.5,47,394,0.43,0.00,0.00,0.000,6,0.000,0.000,2352,2326,3358,0,0,0,0,0,0
$GC,582,-1.32,-146.0,70.6,-12.5,65,587,0.20,2.72,0.00,0.000,4,0.000,0.000,2392,771,3364,0,0,1,0,0,0
$GC,610,-1.32,-146.0,73.7,-11.1,67,615,0.00,3.00,0.00,0.000,6,0.000,0.000,2388,2345,3363,0,0,2,0,0,0
$GC,935,-1.32,-146.0,106.3,-9.8,97,942,0.32,3.10,0.00,0.000,4,0.000,0.000,2303,807,3357,0,0,2,0,0,0
$GC,964,-1.32,-146.0,110.3,-14.1,99,970,0.57,2.80,0.00,0.000,6,0.000,0.000,2395,2355,3357,1,0,0,0,0,0
$GC,1291,-1.32,-146.0,140.6,-9.0,130,1296,0.30,2.88,0.00,0.000,4,0.000,0.000,2335,827,3358,0,0,1,0,0,0
$GC,1322,-1.32,-146.0,144.2,-11.8,132,1328,0.22,2.90,0.00,0.000,6,0.000,0.000,2392,2345,3358,0,0,2,0,0,0
$GC,1647,-1.32,-146.0,175.4,-9.4,162,1651,0.00,2.75,0.00,0.000,4,0.000,0.000,2387,811,3354,0,0,0,0,0,0
$GC,1675,-1.32,-146.0,178.1,-9.3,164,1680,0.00,2.72,0.00,0.000,6,0.000,0.000,2384,2319,3367,0,0,2,0,0,0
$GC,1999,-1.32,-146.0,208.4,-9.2,194,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2323,3358,0,0,0,0,0,0
$GC,2318,-1.32,-146.0,237.8,-9.2,224,2322,0.00,2.97,0.00,0.000,4,0.000,0.000,2388,782,3365,0,0,2,0,0,0
$GC,2361,-1.32,-146.0,241.9,-9.3,227,2366,0.00,2.85,0.00,0.000,6,0.000,0.000,2391,2369,3358,0,0,2,0,0,0
$GC,2686,-1.32,-146.0,271.7,-9.3,258,2691,0.00,2.80,0.00,0.000,4,0.000,0.000,2386,719,3359,0,0,1,0,0,0
$GC,2719,-1.32,-146.0,274.8,-8.9,260,2724,0.00,2.83,0.00,0.000,6,0.000,0.000,2392,2313,3357,0,0,2,0,0,0
$GC,3044,-1.32,-146.0,304.5,-9.2,291,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2322,3360,0,0,0,0,0,0
$GC,3362,-1.32,-146.0,333.5,-9.2,321,3367,0.20,2.78,0.00,0.000,4,0.000,0.000,2349,759,3364,0,0,3,0,0,0
$GC,3401,-1.32,-146.0,337.7,-10.8,324,3406,0.00,2.78,0.00,0.000,6,0.000,0.000,2345,2315,3362,0,0,1,0,0,0
$GC,3726,-1.32,-146.0,372.6,-10.7,354,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2319,3356,0,0,0,0,0,0
$GC,4044,-1.32,-146.0,406.8,-10.6,384,4049,0.08,2.62,0.00,0.000,4,0.000,0.000,2350,828,3354,0,0,1,0,0,0
$GC,4084,-1.32,-146.0,411.0,-10.6,387,4089,0.17,2.80,0.00,0.000,6,0.000,0.000,2373,2485,3363,0,0,2,0,0,0
$GC,4409,-1.32,-146.0,442.3,-9.7,417,4413,0.00,3.10,0.00,0.000,4,0.000,0.000,2378,756,3361,0,0,0,0,0,0
$GC,4470,-1.32,-146.0,448.2,-9.6,422,4475,0.00,3.20,0.00,0.000,6,0.000,0.000,2372,2326,3362,0,0,4,0,0,0
$STATE,4495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4495,begin apogee
$GC,4501,-0.31,0.0,450.8,9.6,424,4652,1.17,0.00,146.90,0.001,6,0.000,0.000,2613,2329,2744,0,0,0,0,0,0
$STATE,4656,end apogee,CONTROL_FINISHED_OK
$STATE,4656,begin climb
$GC,4658,1.32,146.0,453.2,0.0,439,4807,1.70,0.00,143.85,0.001,6,0.000,0.000,2953,2331,2155,0,0,0,0,0,0
$GC,5123,1.32,146.0,387.7,15.6,484,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2323,2154,0,0,0,0,0,0
$GC,5444,1.32,146.0,338.0,15.5,514,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2335,2153,0,0,0,0,0,0
$GC,5762,1.32,146.0,288.6,15.7,544,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2327,2154,0,0,0,0,0,0
$GC,6080,1.32,146.0,239.3,15.4,574,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2325,2148,0,0,0,0,0,0
$GC,6400,1.32,146.0,190.3,15.4,604,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2334,2155,0,0,0,0,0,0
$GC,6718,1.32,146.0,141.9,15.0,634,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2329,2153,0,0,0,0,0,0
$GC,7037,1.32,146.0,94.7,14.5,664,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2329,2152,0,0,0,0,0,0
$GC,7355,1.32,146.0,49.3,14.0,694,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2329,2153,0,0,0,0,0,0
$GC,7545,1.32,146.0,23.9,13.2,712,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2325,2149,0,0,0,0,0,0
$STATE,7714,end climb,SURFACE_DEPTH_REACHED
$STATE,7714,begin surface coast
$FINISH,-0.0,1.026632
$STATE,7732,end surface coast,CONTROL_FINISHED_OK
$STATE,7732,begin surface
$SM_CCo,7756,67.00,0.001,0,0,1736,250.21
$SM_GC,-0.00,0.00,0.00,67.00,0.000,0.000,0.001,339,2197,1736,-10.69,-0.59,250.21
$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,0.03068
$HUMID,1078990089
$INTERNAL_PRESSURE,15.9869
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,426.0,999.0
$24V_AH,24.1,127.325
$10V_AH,10.7,29.546
$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,29.550,57.300,290.750,67.000,0.000,0.000,0.000,85.914,9.750,0.000,18.821,1258.741,5347.153,468.968,687.210,291.286,0.000,1034.725,0.000,575.487,1800.000,53.590,0.000
$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,593.671,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129492
$DATA_FILE_SIZE,22145,743
$CAP_FILE_SIZE,87777,0
$CFSIZE,260165632,239808512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,30,0,0
$SOUNDSPEED,1470.1
$GPS,151009,102003,6650.430,-5824.571,21,1.1,21,18.0