version: 66.07
glider: 99
mission: 63
dive: 349
start: 10 16 109 9 4 30
data:
$ID,99
$MISSION,63
$DIVE,349
$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,-2
$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,-826319.94
$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,46
$R_STBD_OVSHOOT,59
$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
$GPS1,085920,6648.457,-5851.503,13,1.1,13,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,090320,6648.457,-5851.503,24,1.1,24,18.0
$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,271.3,14267,-18.1,-10.000
$D_GRID,933
$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,-146.0,0.0,0.0,0,70,0.00,0.00,-52.22,0.000,2,0.000,0.000,334,2093,3318,0,0,0,0,0,0
$GC,73,-1.32,-146.0,3.1,-14.9,10,93,10.32,3.08,-0.77,0.000,4,0.000,0.000,2439,3608,3350,3,0,4,0,0,0
$GC,139,-1.32,-146.0,17.0,-8.9,22,145,0.62,2.55,0.00,0.000,6,0.000,0.000,2326,2176,3344,0,0,3,0,0,0
$GC,210,-1.32,-146.0,26.7,-14.5,31,212,0.32,0.00,0.00,0.000,6,0.000,0.000,2399,2176,3347,0,0,0,0,0,0
$GC,401,-1.32,-146.0,46.9,-10.3,49,403,0.20,0.00,0.00,0.000,6,0.000,0.000,2362,2176,3345,0,0,0,0,0,0
$GC,593,-1.32,-146.0,69.9,-11.9,67,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2178,3349,0,0,0,0,0,0
$GC,911,-1.32,-146.0,106.9,-11.4,97,916,0.00,3.00,0.00,0.000,4,0.000,0.000,2350,3739,3347,0,0,1,0,0,0
$GC,932,-1.32,-146.0,109.5,-11.4,98,937,0.00,2.90,0.00,0.000,6,0.000,0.000,2348,2096,3345,0,0,1,0,0,0
$GC,1257,-1.32,-146.0,145.9,-11.1,129,1262,0.00,3.05,0.00,0.000,4,0.000,0.000,2357,3761,3348,0,0,3,0,0,0
$GC,1284,-1.32,-146.0,149.0,-11.4,131,1289,0.00,2.88,0.00,0.000,6,0.000,0.000,2353,2185,3345,0,0,1,0,0,0
$GC,1608,-1.32,-146.0,184.5,-10.8,161,1610,0.12,0.00,0.00,0.000,6,0.000,0.000,2369,2179,3345,0,0,0,0,0,0
$GC,1928,-1.32,-146.0,216.6,-10.0,191,1932,0.00,2.55,0.00,0.000,4,0.000,0.000,2366,3612,3347,0,0,0,0,0,0
$GC,1949,-1.32,-146.0,218.8,-9.7,192,1954,0.00,2.58,0.00,0.000,6,0.000,0.000,2369,2203,3344,0,0,1,0,0,0
$GC,2274,-1.32,-146.0,251.0,-10.0,223,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2192,3343,0,0,0,0,0,0
$GC,2592,-1.32,-146.0,282.4,-10.0,253,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2193,3344,0,0,0,0,0,0
$GC,2911,-1.32,-146.0,313.8,-9.7,283,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2199,3344,0,0,0,0,0,0
$GC,3230,-1.32,-146.0,344.9,-9.9,313,3234,0.00,2.78,0.00,0.000,4,0.000,0.000,2369,3747,3347,0,0,1,0,0,0
$GC,3258,-1.32,-146.0,347.7,-9.8,315,3263,0.00,2.83,0.00,0.000,6,0.000,0.000,2372,2186,3345,0,0,1,0,0,0
$GC,3584,-1.32,-146.0,379.4,-9.7,345,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2183,3344,0,0,0,0,0,0
$GC,3902,-1.32,-146.0,410.4,-9.6,375,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2182,3346,0,0,0,0,0,0
$GC,4220,-1.32,-146.0,441.4,-9.8,405,4224,0.00,2.55,0.00,0.000,4,0.000,0.000,2369,3639,3343,0,0,0,0,0,0
$GC,4248,-1.32,-146.0,444.1,-9.5,407,4252,0.00,2.70,0.00,0.000,6,0.000,0.000,2366,2138,3345,0,0,0,0,0,0
$STATE,4315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4315,begin apogee
$GC,4322,-0.31,0.0,450.8,9.6,413,4469,1.20,0.00,142.95,0.001,6,0.000,0.000,2603,2429,2749,0,0,0,0,0,0
$STATE,4472,end apogee,CONTROL_FINISHED_OK
$STATE,4472,begin climb
$GC,4475,1.32,146.0,453.3,0.0,428,4628,1.73,2.20,142.23,0.001,4,0.000,0.000,2953,3643,2154,0,0,1,0,0,0
$GC,4651,1.32,146.0,433.6,15.2,445,4655,0.00,2.42,0.00,0.000,6,0.000,0.000,2949,2276,2150,0,0,2,0,0,0
$GC,4975,1.32,146.0,384.1,15.3,475,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2275,2156,0,0,0,0,0,0
$GC,5296,1.32,146.0,335.6,15.1,505,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2274,2160,0,0,0,0,0,0
$GC,5614,1.32,146.0,287.3,15.1,535,5619,0.00,2.70,0.00,0.000,4,0.000,0.000,2958,3794,2153,0,0,1,0,0,0
$GC,5647,1.32,146.0,281.8,15.6,537,5652,0.00,2.67,0.00,0.000,6,0.000,0.000,2952,2259,2155,0,0,2,0,0,0
$GC,5972,1.32,146.0,232.9,15.0,568,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2269,2154,0,0,0,0,0,0
$GC,6293,1.32,146.0,185.1,15.2,598,6297,0.00,2.50,0.00,0.000,4,0.000,0.000,2957,3634,2160,0,0,0,0,0,0
$GC,6320,1.32,146.0,180.7,15.0,600,6325,0.00,2.47,0.00,0.000,6,0.000,0.000,2957,2268,2153,0,0,1,0,0,0
$GC,6645,1.32,146.0,132.7,14.6,630,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2271,2151,0,0,0,0,0,0
$GC,6967,1.32,146.0,86.9,14.3,660,6971,0.00,2.45,0.00,0.000,4,0.000,0.000,2951,3624,2152,0,0,0,0,0,0
$GC,6995,1.32,146.0,82.4,14.5,662,7000,0.00,2.60,0.55,0.000,6,0.000,0.000,2952,2291,2154,0,0,1,0,0,0
$GC,7319,1.32,146.0,37.7,13.2,692,7320,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2302,2159,0,0,0,0,0,0
$GC,7513,1.32,146.0,12.6,13.0,715,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2293,2152,0,0,0,0,0,0
$GC,7586,1.32,146.0,3.2,12.7,728,7590,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2293,2151,0,0,0,0,0,0
$STATE,7595,end climb,SURFACE_DEPTH_REACHED
$STATE,7595,begin surface coast
$FINISH,-0.0,1.026697
$STATE,7615,end surface coast,CONTROL_FINISHED_OK
$STATE,7615,begin surface
$SM_CCo,7638,66.95,0.001,0,0,1733,250.21
$SM_GC,-0.00,0.00,0.00,66.95,0.000,0.000,0.001,332,2292,1733,-10.68,1.67,250.21
$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,1078992669
$INTERNAL_PRESSURE,15.9869
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.9,999.0
$24V_AH,24.1,129.982
$10V_AH,10.7,29.965
$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,27.675,54.000,285.725,66.950,0.000,0.000,0.000,88.655,9.750,0.000,26.584,1222.011,5290.039,451.178,700.323,339.360,0.000,1023.552,0.000,576.772,0.000,54.156,0.000
$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,587.652,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,130592
$DATA_FILE_SIZE,22103,733
$CAP_FILE_SIZE,86871,0
$CFSIZE,260165632,239353856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,25,0,0
$SOUNDSPEED,1469.1
$GPS,161009,111425,6648.428,-5854.226,28,1.1,28,18.0