version: 66.07
glider: 99
mission: 63
dive: 341
start: 10 15 109 15 5 35
data:
$ID,99
$MISSION,63
$DIVE,341
$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,-826117.31
$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,40
$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
$GPS1,150105,6649.822,-5829.991,21,1.1,22,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,150514,6649.822,-5829.991,38,1.1,38,18.0
$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,256.3,29212,-18.1,-10.000
$D_GRID,832
$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,13,begin dive
$GC,16,-1.32,-146.0,0.0,0.0,0,71,0.00,0.00,-52.88,0.000,6,0.000,0.000,336,2240,3344,0,0,0,0,0,0
$GC,74,-1.32,-146.0,3.7,-18.6,11,90,10.20,2.75,0.00,0.000,4,0.000,0.000,2405,620,3340,0,0,1,0,0,0
$GC,107,-1.32,-146.0,15.6,-22.2,17,113,0.30,2.95,0.00,0.000,6,0.000,0.000,2378,2322,3339,0,0,1,0,0,0
$GC,183,-1.32,-146.0,26.8,-15.5,27,186,0.55,0.00,0.00,0.000,6,0.000,0.000,2467,2327,3343,1,0,0,0,0,0
$GC,376,-1.32,-146.0,41.6,-7.3,45,378,0.85,0.00,0.00,0.000,6,0.000,0.000,2293,2321,3337,1,0,0,0,0,0
$GC,565,-1.32,-146.0,70.9,-15.3,63,571,0.52,3.03,0.00,0.000,4,0.000,0.000,2379,696,3346,1,0,4,0,0,0
$GC,594,-1.32,-146.0,74.4,-11.3,65,599,0.00,2.92,0.00,0.000,6,0.000,0.000,2381,2298,3340,0,0,2,0,0,0
$GC,918,-1.32,-146.0,108.4,-10.2,95,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2297,3344,0,0,0,0,0,0
$GC,1238,-1.32,-146.0,140.7,-10.0,125,1243,0.00,2.85,0.00,0.000,4,0.000,0.000,2377,723,3343,0,0,1,0,0,0
$GC,1270,-1.32,-146.0,144.1,-9.9,127,1276,0.00,2.75,0.00,0.000,6,0.000,0.000,2377,2258,3342,0,0,1,0,0,0
$GC,1595,-1.32,-146.0,176.0,-9.9,158,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2251,3347,0,0,0,0,0,0
$GC,1914,-1.32,-146.0,207.0,-9.7,188,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2249,3345,0,0,0,0,0,0
$GC,2232,-1.32,-146.0,237.4,-9.5,218,2237,0.00,2.70,0.00,0.000,4,0.000,0.000,2371,765,3342,0,0,0,0,0,0
$GC,2254,-1.32,-146.0,239.5,-9.6,219,2259,0.00,2.80,0.00,0.000,6,0.000,0.000,2370,2354,3346,0,0,2,0,0,0
$GC,2579,-1.32,-146.0,270.4,-9.6,250,2583,0.00,2.88,0.00,0.000,4,0.000,0.000,2373,850,3344,0,0,1,0,0,0
$GC,2607,-1.32,-146.0,273.1,-9.9,252,2611,0.00,3.00,0.00,0.000,6,0.000,0.000,2377,2296,3339,0,0,3,0,0,0
$GC,2931,-1.32,-146.0,303.8,-9.4,282,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2292,3346,0,0,0,0,0,0
$GC,3250,-1.32,-146.0,333.9,-9.6,312,3255,0.00,2.67,0.00,0.000,4,0.000,0.000,2370,781,3336,0,0,0,0,0,0
$GC,3283,-1.32,-146.0,337.0,-9.2,314,3288,0.00,2.65,0.00,0.000,6,0.000,0.000,2378,2316,3338,0,0,2,0,0,0
$GC,3608,-1.32,-146.0,367.4,-9.3,345,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2312,3336,0,0,0,0,0,0
$GC,3926,-1.32,-146.0,397.2,-9.3,375,3930,0.00,2.83,0.00,0.000,4,0.000,0.000,2375,725,3344,0,0,1,0,0,0
$GC,3959,-1.32,-146.0,400.4,-9.2,377,3964,0.00,2.72,0.00,0.000,6,0.000,0.000,2377,2255,3343,0,0,0,0,0,0
$GC,4284,-1.32,-146.0,430.6,-9.2,408,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2244,3339,0,0,0,0,0,0
$STATE,4494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4494,begin apogee
$GC,4501,-0.31,0.0,450.4,9.3,428,4648,1.15,0.00,142.50,0.001,6,0.000,0.000,2629,2357,2748,0,0,0,0,0,0
$STATE,4651,end apogee,CONTROL_FINISHED_OK
$STATE,4651,begin climb
$GC,4654,1.32,146.0,452.5,0.0,443,4807,1.62,0.00,142.65,0.001,6,0.000,0.000,2986,2359,2157,0,0,0,0,0,0
$GC,5123,1.32,146.0,380.3,17.1,488,5126,0.45,0.00,0.00,0.000,6,0.000,0.000,2897,2355,2152,0,0,0,0,0,0
$GC,5442,1.32,146.0,342.3,11.8,518,5444,0.32,0.00,0.00,0.000,6,0.000,0.000,2973,2355,2153,0,0,0,0,0,0
$GC,5761,1.32,146.0,289.6,16.7,548,5766,0.32,3.00,0.00,0.000,4,0.000,0.000,2903,655,2154,0,0,2,0,0,0
$GC,5782,1.32,146.0,286.6,13.0,549,5789,0.40,3.22,0.00,0.000,6,0.000,0.000,2964,2326,2157,0,0,3,0,0,0
$GC,6107,1.32,146.0,235.6,15.7,580,6109,0.25,0.00,0.00,0.000,6,0.000,0.000,2923,2329,2156,0,0,0,0,0,0
$GC,6426,1.32,146.0,193.2,13.1,610,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2334,2152,0,0,0,0,0,0
$GC,6747,1.32,146.0,151.6,13.1,640,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2324,2154,0,0,0,0,0,0
$GC,7063,1.32,146.0,110.8,12.7,670,7064,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2327,2153,0,0,0,0,0,0
$GC,7383,1.32,146.0,71.1,12.2,700,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2337,2153,0,0,0,0,0,0
$GC,7704,1.32,146.0,33.4,11.6,730,7709,0.38,0.00,0.00,0.000,6,0.000,0.000,3007,2328,2155,0,0,0,0,0,0
$STATE,7907,end climb,SURFACE_DEPTH_REACHED
$STATE,7907,begin surface coast
$FINISH,-0.0,1.026651
$STATE,7916,end surface coast,CONTROL_FINISHED_OK
$STATE,7917,begin surface
$SM_CCo,7941,67.18,0.001,0,0,1732,250.21
$SM_GC,-0.00,0.00,0.00,67.18,0.000,0.000,0.001,336,2214,1732,-10.70,-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,0.031447
$HUMID,1078910313
$INTERNAL_PRESSURE,16.026
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.7,999.0
$24V_AH,24.1,128.065
$10V_AH,10.7,29.664
$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,30.675,46.200,285.150,67.175,0.000,0.000,0.000,82.154,9.750,0.000,40.292,1281.844,5515.267,451.415,726.224,290.314,0.000,1028.147,0.000,591.832,2160.000,56.234,0.000
$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,613.309,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129548
$DATA_FILE_SIZE,25285,761
$CAP_FILE_SIZE,87155,0
$CFSIZE,260165632,239677440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,25,0,0
$SOUNDSPEED,1469.8
$GPS,151009,172015,6649.439,-5832.613,10,1.1,10,18.0