version: 66.07
glider: 99
mission: 63
dive: 163
start: 9 28 109 16 20 2
data:
$ID,99
$MISSION,63
$DIVE,163
$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,-821620.88
$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,9
$R_STBD_OVSHOOT,54
$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
$GPS1,161541,6641.325,-5810.682,16,1.1,16,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,161940,6641.325,-5810.682,35,1.1,35,18.0
$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,252.6,111588,-18.1,-10.000
$D_GRID,655
$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,-53.45,0.000,6,0.000,0.000,315,2272,3350,0,0,0,0,0,0
$GC,74,-1.32,-146.0,4.8,-24.4,11,89,10.40,0.00,0.00,0.000,6,0.000,0.000,2397,2264,3358,0,0,0,0,0,0
$GC,156,-1.32,-146.0,22.6,-10.8,24,158,0.45,0.00,0.00,0.000,6,0.000,0.000,2321,2263,3349,0,0,0,0,0,0
$GC,347,-1.32,-146.0,50.1,-14.0,42,352,0.28,3.05,0.00,0.000,4,0.000,0.000,2392,654,3351,0,0,1,0,0,0
$GC,368,-1.32,-146.0,52.7,-11.3,43,374,0.00,2.85,0.00,0.000,6,0.000,0.000,2384,2303,3350,0,0,1,0,0,0
$GC,694,-1.32,-146.0,86.0,-10.0,74,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2310,3354,0,0,0,0,0,0
$GC,1012,-1.32,-146.0,117.5,-9.7,104,1017,0.00,2.78,0.00,0.000,4,0.000,0.000,2384,702,3352,0,0,1,0,0,0
$GC,1051,-1.32,-146.0,121.3,-9.8,107,1056,0.00,2.80,0.00,0.000,6,0.000,0.000,2374,2292,3353,0,0,2,0,0,0
$GC,1376,-1.32,-146.0,152.6,-9.5,137,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2286,3348,0,0,0,0,0,0
$GC,1695,-1.32,-146.0,182.8,-9.5,167,1699,0.00,2.85,0.00,0.000,4,0.000,0.000,2381,718,3346,0,0,0,0,0,0
$GC,1722,-1.32,-146.0,185.4,-9.6,169,1727,0.00,2.78,0.00,0.000,6,0.000,0.000,2381,2283,3352,0,0,1,0,0,0
$GC,2052,-1.32,-146.0,216.0,-9.3,199,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2296,3353,0,0,0,0,0,0
$GC,2376,-1.32,-146.0,246.9,-9.5,230,2381,0.00,3.22,0.00,0.000,4,0.000,0.000,2388,589,3353,0,0,3,0,0,0
$GC,2405,-1.32,-146.0,249.6,-9.5,232,2409,0.00,2.85,0.00,0.000,6,0.000,0.000,2386,2247,3354,0,0,0,0,0,0
$GC,2729,-1.32,-146.0,280.0,-9.3,262,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2251,3350,0,0,0,0,0,0
$GC,3048,-1.32,-146.0,309.8,-9.5,292,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2254,3354,0,0,0,0,0,0
$GC,3366,-1.32,-146.0,339.6,-9.4,322,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2253,3351,0,0,0,0,0,0
$GC,3685,-1.32,-146.0,369.3,-9.2,352,3690,0.00,2.80,0.00,0.000,4,0.000,0.000,2384,691,3347,0,0,1,0,0,0
$GC,3706,-1.32,-146.0,371.3,-9.4,353,3711,0.00,2.90,0.00,0.000,6,0.000,0.000,2378,2297,3347,0,0,1,0,0,0
$GC,4031,-1.32,-146.0,401.4,-9.2,384,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2292,3351,0,0,0,0,0,0
$GC,4350,-1.32,-146.0,430.9,-9.2,414,4355,0.00,2.95,0.00,0.000,4,0.000,0.000,2381,763,3353,0,0,1,0,0,0
$GC,4382,-1.32,-146.0,434.0,-9.3,416,4388,0.00,2.67,0.00,0.000,6,0.000,0.000,2384,2280,3349,0,0,1,0,0,0
$STATE,4556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4556,begin apogee
$GC,4563,-0.31,0.0,450.2,9.2,433,4712,1.15,0.00,144.73,0.001,6,0.000,0.000,2621,2282,2747,0,0,0,0,0,0
$STATE,4714,end apogee,CONTROL_FINISHED_OK
$STATE,4715,begin climb
$GC,4717,1.32,146.0,452.3,0.0,448,4866,1.73,0.00,143.07,0.001,6,0.000,0.000,2971,2278,2153,0,0,0,0,0,0
$GC,5182,1.32,146.0,383.5,16.3,493,5187,0.40,2.62,0.00,0.000,4,0.000,0.000,2896,3661,2151,0,0,1,0,0,0
$GC,5215,1.32,146.0,379.2,11.7,495,5221,0.55,2.58,0.00,0.000,6,0.000,0.000,2997,2204,2153,1,0,1,0,0,0
$GC,5539,1.32,146.0,320.9,18.3,526,5545,0.73,2.58,0.00,0.000,4,0.000,0.000,2909,3657,2157,1,0,0,0,0,0
$GC,5568,1.32,146.0,316.9,13.2,528,5573,0.32,2.58,0.00,0.000,6,0.000,0.000,2956,2163,2152,0,0,2,0,0,0
$GC,5892,1.32,146.0,267.3,15.6,558,5896,0.00,2.65,0.00,0.000,4,0.000,0.000,2952,3655,2152,0,0,1,0,0,0
$GC,5930,1.32,146.0,261.3,15.3,561,5935,0.00,2.55,0.00,0.000,6,0.000,0.000,2959,2245,2156,0,0,2,0,0,0
$GC,6255,1.32,146.0,211.6,15.3,591,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2253,2152,0,0,0,0,0,0
$GC,6575,1.32,146.0,162.8,15.5,621,6580,0.00,2.45,0.00,0.000,4,0.000,0.000,2959,3602,2153,0,0,1,0,0,0
$GC,6608,1.32,146.0,157.3,15.5,623,6613,0.00,2.40,0.00,0.000,6,0.000,0.000,2961,2246,2150,0,0,0,0,0,0
$GC,6933,1.32,146.0,108.4,15.0,654,6937,0.00,2.65,0.00,0.000,4,0.000,0.000,2956,3708,2152,0,0,0,0,0,0
$GC,6961,1.32,146.0,104.3,14.8,656,6965,0.00,2.72,0.00,0.000,6,0.000,0.000,2955,2222,2153,0,0,1,0,0,0
$GC,7285,1.32,146.0,56.9,14.2,686,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2221,2148,0,0,0,0,0,0
$GC,7605,1.32,146.0,14.1,12.3,720,7610,0.00,2.53,0.00,0.000,4,0.000,0.000,2958,3631,2151,0,0,0,0,0,0
$GC,7650,1.32,146.0,8.8,11.8,728,7654,0.00,2.47,0.00,0.000,6,0.000,0.000,2957,2256,2149,0,0,0,0,0,0
$STATE,7708,end climb,SURFACE_DEPTH_REACHED
$STATE,7709,begin surface coast
$FINISH,-0.0,1.026269
$STATE,7726,end surface coast,CONTROL_FINISHED_OK
$STATE,7726,begin surface
$SM_CCo,7751,67.30,0.001,0,0,1728,250.45
$SM_GC,-0.00,0.00,0.00,67.30,0.000,0.000,0.001,322,2172,1728,-10.73,-1.75,250.45
$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,0.029913
$HUMID,1078972248
$INTERNAL_PRESSURE,15.7916
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,426.0,999.0
$24V_AH,24.1,84.711
$10V_AH,10.7,22.780
$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,29.175,65.425,287.800,67.300,0.000,0.000,0.000,81.045,9.750,0.000,37.476,1247.691,5347.066,479.470,709.821,281.957,0.000,1044.711,0.000,581.055,1440.000,56.079,0.000
$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,594.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129564
$DATA_FILE_SIZE,25257,742
$CAP_FILE_SIZE,88520,0
$CFSIZE,260165632,247070720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,22,0,0
$SOUNDSPEED,1471.3
$GPS,280909,183150,6640.861,-5813.129,30,1.1,30,18.0