version: 66.07
glider: 99
mission: 63
dive: 385
start: 10 19 109 18 49 4
data:
$ID,99
$MISSION,63
$DIVE,385
$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,-827154.44
$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,63
$R_STBD_OVSHOOT,48
$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
$GPS1,184456,6639.292,-6027.040,18,1.1,18,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,184843,6639.292,-6027.040,14,1.1,14,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$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,275.2,12721,-18.1,-10.000
$D_GRID,510
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.32,-146.0,0.0,0.0,0,72,0.00,0.00,-53.47,0.000,6,0.000,0.000,308,2093,3341,0,0,0,0,0,0
$GC,75,-1.32,-146.0,2.5,-11.6,11,90,10.43,2.92,0.00,0.000,4,0.000,0.000,2406,3629,3339,0,0,0,0,0,0
$GC,130,-1.32,-146.0,15.3,-9.9,21,136,0.47,2.95,0.00,0.000,6,0.000,0.000,2316,2067,3341,1,0,3,0,0,0
$GC,202,-1.32,-146.0,25.1,-14.5,31,204,0.65,0.00,0.00,0.000,6,0.000,0.000,2436,2066,3339,1,0,0,0,0,0
$GC,394,-1.32,-146.0,41.3,-8.2,49,399,0.30,2.75,0.00,0.000,4,0.000,0.000,2355,3656,3343,0,0,1,0,0,0
$GC,423,-1.32,-146.0,44.6,-12.0,51,427,0.00,2.62,0.00,0.000,6,0.000,0.000,2354,2179,3341,0,0,0,0,0,0
$GC,620,-1.32,-146.0,68.5,-12.1,69,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2176,3348,0,0,0,0,0,0
$GC,938,-1.32,-146.0,107.3,-12.4,99,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2178,3347,0,0,0,0,0,0
$GC,1257,-1.32,-146.0,146.0,-12.3,129,1261,0.00,2.60,0.00,0.000,4,0.000,0.000,2356,3634,3343,0,0,0,0,0,0
$GC,1284,-1.32,-146.0,149.3,-11.9,131,1289,0.00,2.90,0.00,0.000,6,0.000,0.000,2356,2146,3337,0,0,4,0,0,0
$GC,1608,-1.32,-146.0,188.7,-12.0,161,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2145,3340,0,0,0,0,0,0
$GC,1927,-1.32,-146.0,227.5,-12.2,191,1931,0.00,2.62,0.00,0.000,4,0.000,0.000,2361,3641,3344,0,0,1,0,0,0
$GC,1959,-1.32,-146.0,231.5,-12.5,193,1964,0.00,2.95,0.00,0.000,6,0.000,0.000,2355,2078,3344,0,0,2,0,0,0
$GC,2286,-1.32,-146.0,270.8,-12.3,224,2290,0.00,2.75,0.00,0.000,4,0.000,0.000,2362,3642,3338,0,0,0,0,0,0
$GC,2325,-1.32,-146.0,275.8,-11.9,227,2330,0.00,3.08,0.00,0.000,6,0.000,0.000,2356,2155,3341,0,0,2,0,0,0
$GC,2649,-1.32,-146.0,315.2,-12.1,257,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2163,3346,0,0,0,0,0,0
$GC,2968,-1.32,-146.0,354.0,-12.2,287,2973,0.00,2.60,0.00,0.000,4,0.000,0.000,2353,3646,3344,0,0,2,0,0,0
$GC,2996,-1.32,-146.0,357.4,-12.4,289,3000,0.00,2.55,0.00,0.000,6,0.000,0.000,2354,2214,3341,0,0,1,0,0,0
$GC,3320,-1.32,-146.0,396.8,-12.2,319,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2224,3344,0,0,0,0,0,0
$GC,3639,-1.32,-146.0,435.5,-12.1,349,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2221,3343,0,0,0,0,0,0
$STATE,3765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3765,begin apogee
$GC,3772,-0.31,0.0,450.9,12.2,361,3919,1.27,0.00,142.65,0.001,6,0.000,0.000,2628,2390,2749,0,0,0,0,0,0
$STATE,3922,end apogee,CONTROL_FINISHED_OK
$STATE,3922,begin climb
$GC,3925,1.32,146.0,455.2,0.0,376,4078,1.60,3.03,141.90,0.001,4,0.000,0.000,2954,3792,2155,0,0,3,0,0,0
$GC,4101,1.32,146.0,439.3,13.3,393,4105,0.00,2.75,0.00,0.000,6,0.000,0.000,2951,2264,2154,0,0,1,0,0,0
$GC,4425,1.32,146.0,395.3,13.7,423,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2266,2148,0,0,0,0,0,0
$GC,4746,1.32,146.0,352.1,13.8,453,4750,0.00,2.38,0.00,0.000,4,0.000,0.000,2945,3693,2156,0,0,1,0,0,0
$GC,4773,1.32,146.0,348.0,13.8,455,4778,0.00,2.45,0.00,0.000,6,0.000,0.000,2952,2330,2158,0,0,1,0,0,0
$GC,5098,1.32,146.0,304.0,13.7,485,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2338,2156,0,0,0,0,0,0
$GC,5418,1.32,146.0,260.8,13.5,515,5423,0.00,2.55,0.00,0.000,4,0.000,0.000,2955,871,2154,0,0,1,0,0,0
$GC,5439,1.32,146.0,257.6,13.5,516,5445,0.00,2.80,0.00,0.000,6,0.000,0.000,2960,2457,2155,0,0,1,0,0,0
$GC,5764,1.32,146.0,213.7,13.4,547,5769,0.00,2.75,0.00,0.000,4,0.000,0.000,2950,886,2157,0,0,1,0,0,0
$GC,5796,1.32,146.0,209.2,13.3,549,5802,0.00,2.62,0.00,0.000,6,0.000,0.000,2954,2361,2154,0,0,2,0,0,0
$GC,6120,1.32,146.0,165.4,13.6,580,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2375,2158,0,0,0,0,0,0
$GC,6441,1.32,146.0,122.1,13.5,610,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2371,2154,0,0,0,0,0,0
$GC,6760,1.32,146.0,78.9,13.7,640,6765,0.00,2.65,0.00,0.000,4,0.000,0.000,2960,877,2155,0,0,0,0,0,0
$GC,6788,1.32,146.0,74.8,13.8,642,6793,0.00,2.92,0.00,0.000,6,0.000,0.000,2953,2422,2156,0,0,2,0,0,0
$GC,7112,1.32,146.0,30.8,13.5,672,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2416,2156,0,0,0,0,0,0
$GC,7313,1.32,146.0,3.8,13.5,700,7318,0.00,2.67,0.00,0.000,4,0.000,0.000,2949,899,2155,0,0,1,0,0,0
$STATE,7327,end climb,SURFACE_DEPTH_REACHED
$STATE,7327,begin surface coast
$FINISH,-0.0,1.027028
$STATE,7340,end surface coast,CONTROL_FINISHED_OK
$STATE,7340,begin surface
$SM_CCo,7367,67.60,0.001,0,0,1728,250.45
$SM_GC,-0.00,0.00,0.00,67.60,0.000,0.000,0.001,336,2273,1728,-10.66,1.33,250.45
$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,1079045573
$INTERNAL_PRESSURE,15.9479
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.1,999.0
$24V_AH,24.1,138.697
$10V_AH,10.7,31.343
$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,27.875,65.600,284.550,67.600,0.000,0.000,0.000,82.675,9.750,0.000,14.711,1206.476,5042.905,458.563,666.688,293.199,0.000,1012.699,0.000,563.053,1800.000,55.517,0.000
$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,569.843,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129584
$DATA_FILE_SIZE,22146,705
$CAP_FILE_SIZE,85175,0
$CFSIZE,260165632,237871104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,30,0,0
$SOUNDSPEED,1461.2
$GPS,191009,205417,6639.391,-6029.720,17,1.1,17,18.0