version: 66.07
glider: 99
mission: 63
dive: 160
start: 9 28 109 9 32 31
data:
$ID,99
$MISSION,63
$DIVE,160
$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,-821519.38
$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,36
$R_STBD_OVSHOOT,73
$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
$GPS1,092811,6642.362,-5802.882,28,1.1,28,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,093210,6642.362,-5802.882,33,1.1,33,18.0
$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,251.7,117296,-18.1,-10.000
$D_GRID,639
$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,-53.35,0.000,6,0.000,0.000,327,2221,3343,0,0,0,0,0,0
$GC,74,-1.32,-146.0,5.1,-24.6,11,89,10.15,0.00,0.00,0.000,6,0.000,0.000,2403,2223,3361,1,0,0,0,0,0
$GC,161,-1.32,-146.0,23.9,-10.7,24,163,0.40,0.00,0.00,0.000,6,0.000,0.000,2335,2219,3361,0,0,0,0,0,0
$GC,352,-1.32,-146.0,50.2,-13.4,42,354,0.47,0.00,0.00,0.000,6,0.000,0.000,2414,2216,3363,1,0,0,0,0,0
$GC,673,-1.32,-146.0,79.4,-8.8,72,675,0.38,0.00,0.00,0.000,6,0.000,0.000,2346,2219,3357,0,0,0,0,0,0
$GC,989,-1.32,-146.0,116.6,-11.6,102,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2222,3362,0,0,0,0,0,0
$GC,1308,-1.32,-146.0,153.0,-11.2,132,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2218,3362,0,0,0,0,0,0
$GC,1626,-1.32,-146.0,188.8,-11.3,162,1628,0.35,0.00,0.00,0.000,6,0.000,0.000,2407,2222,3363,0,0,0,0,0,0
$GC,1945,-1.32,-146.0,216.5,-8.7,192,1947,0.35,0.00,0.00,0.000,6,0.000,0.000,2321,2222,3365,0,0,0,0,0,0
$GC,2264,-1.32,-146.0,255.3,-12.2,222,2266,0.47,0.00,0.00,0.000,6,0.000,0.000,2401,2226,3360,1,0,0,0,0,0
$GC,2583,-1.32,-146.0,282.7,-8.5,252,2585,0.47,0.00,0.00,0.000,6,0.000,0.000,2343,2219,3360,1,0,0,0,0,0
$GC,2902,-1.32,-146.0,318.3,-11.3,282,2904,0.28,0.00,0.00,0.000,6,0.000,0.000,2384,2217,3360,0,0,0,0,0,0
$GC,3220,-1.32,-146.0,348.6,-9.4,312,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2220,3360,0,0,0,0,0,0
$GC,3539,-1.32,-146.0,378.5,-9.2,342,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2224,3362,0,0,0,0,0,0
$GC,3859,-1.32,-146.0,408.4,-9.3,372,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2218,3361,0,0,0,0,0,0
$GC,4176,-1.32,-146.0,438.2,-9.3,402,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2217,3357,0,0,0,0,0,0
$STATE,4301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4301,begin apogee
$GC,4308,-0.31,0.0,450.0,9.4,414,4459,1.10,0.00,146.77,0.001,6,0.000,0.000,2615,2341,2747,0,0,0,0,0,0
$STATE,4462,end apogee,CONTROL_FINISHED_OK
$STATE,4462,begin climb
$GC,4465,1.32,146.0,452.5,0.0,429,4613,1.73,0.00,143.43,0.001,6,0.000,0.000,2954,2341,2157,1,0,0,0,0,0
$GC,4929,1.32,146.0,388.8,15.2,474,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2333,2157,0,0,0,0,0,0
$GC,5250,1.32,146.0,340.6,15.3,504,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2345,2151,0,0,0,0,0,0
$GC,5569,1.32,146.0,292.4,14.9,534,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2336,2156,0,0,0,0,0,0
$GC,5887,1.32,146.0,244.4,15.0,564,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2334,2155,0,0,0,0,0,0
$GC,6205,1.32,146.0,196.6,15.0,594,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2331,2153,0,0,0,0,0,0
$GC,6524,1.32,146.0,148.9,15.1,624,6528,0.00,2.65,0.00,0.000,4,0.000,0.000,2954,862,2153,0,0,1,0,0,0
$GC,6544,1.32,146.0,145.3,14.5,625,6550,0.00,2.62,0.00,0.000,6,0.000,0.000,2956,2362,2152,0,0,0,0,0,0
$GC,6869,1.32,146.0,97.6,14.6,656,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2359,2155,0,0,0,0,0,0
$GC,7191,1.32,146.0,52.2,13.8,686,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2359,2152,0,0,0,0,0,0
$GC,7519,1.32,146.0,9.8,11.3,724,7524,0.00,2.85,0.00,0.000,4,0.000,0.000,2951,731,2151,0,0,1,0,0,0
$GC,7541,1.32,146.0,7.2,11.9,728,7546,0.00,3.03,0.00,0.000,6,0.000,0.000,2954,2368,2151,0,0,1,0,0,0
$STATE,7589,end climb,SURFACE_DEPTH_REACHED
$STATE,7589,begin surface coast
$FINISH,-0.0,1.026214
$STATE,7607,end surface coast,CONTROL_FINISHED_OK
$STATE,7607,begin surface
$SM_CCo,7631,67.82,0.001,0,0,1724,250.21
$SM_GC,-0.00,0.00,0.00,67.82,0.000,0.000,0.001,317,2189,1724,-10.74,-0.82,250.21
$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,1078988153
$INTERNAL_PRESSURE,15.7819
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.2,999.0
$24V_AH,24.1,83.988
$10V_AH,10.7,22.664
$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,29.250,11.675,290.200,67.825,0.000,0.000,0.000,81.152,9.750,0.000,35.659,1190.641,5380.574,436.279,674.318,265.072,0.000,962.757,0.000,553.004,0.000,55.718,0.000
$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,596.454,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129516
$DATA_FILE_SIZE,22141,740
$CAP_FILE_SIZE,74937,0
$CFSIZE,260165632,247209984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,6,4,0,0
$SOUNDSPEED,1471.3
$GPS,280909,114201,6642.050,-5805.500,11,1.1,11,18.0