version: 66.07
glider: 99
mission: 63
dive: 176
start: 9 29 109 21 44 19
data:
$ID,99
$MISSION,63
$DIVE,176
$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,-821969.5
$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,3
$R_STBD_OVSHOOT,68
$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
$GPS1,214013,6636.998,-5844.346,28,1.1,28,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,214357,6636.998,-5844.346,18,1.1,19,18.0
$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,258.1,87412,-18.1,-10.000
$D_GRID,711
$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,-53.58,0.000,6,0.000,0.000,327,2219,3349,0,0,0,0,0,0
$GC,74,-1.32,-146.0,4.4,-22.1,11,89,10.23,0.00,0.00,0.000,6,0.000,0.000,2407,2213,3353,2,0,0,0,0,0
$GC,161,-1.32,-146.0,22.4,-10.5,25,163,0.22,0.00,0.00,0.000,6,0.000,0.000,2368,2218,3350,0,0,0,0,0,0
$GC,352,-1.32,-146.0,45.6,-11.9,43,354,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2222,3351,0,0,0,0,0,0
$GC,544,-1.32,-146.0,67.6,-11.2,61,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2221,3348,0,0,0,0,0,0
$GC,863,-1.32,-146.0,102.6,-10.9,91,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2215,3348,0,0,0,0,0,0
$GC,1181,-1.32,-146.0,136.3,-10.6,121,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2219,3352,0,0,0,0,0,0
$GC,1500,-1.32,-146.0,169.3,-10.2,151,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2214,3345,0,0,0,0,0,0
$GC,1820,-1.32,-146.0,201.9,-10.2,181,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2223,3344,0,0,0,0,0,0
$GC,2137,-1.32,-146.0,234.4,-10.2,211,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2218,3347,0,0,0,0,0,0
$GC,2455,-1.32,-146.0,266.7,-10.0,241,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2223,3349,0,0,0,0,0,0
$GC,2774,-1.32,-146.0,299.0,-10.1,271,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2223,3347,0,0,0,0,0,0
$GC,3093,-1.32,-146.0,331.3,-10.0,301,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2224,3349,0,0,0,0,0,0
$GC,3411,-1.32,-146.0,363.5,-10.2,331,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2224,3350,0,0,0,0,0,0
$GC,3730,-1.32,-146.0,395.6,-10.1,361,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2222,3354,0,0,0,0,0,0
$GC,4049,-1.32,-146.0,427.5,-9.9,391,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2216,3349,0,0,0,0,0,0
$STATE,4280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4280,begin apogee
$GC,4289,-0.31,0.0,450.8,10.1,413,4438,1.25,0.00,144.45,0.001,6,0.000,0.000,2615,2444,2752,0,0,0,0,0,0
$STATE,4441,end apogee,CONTROL_FINISHED_OK
$STATE,4441,begin climb
$GC,4444,1.32,146.0,453.3,0.0,428,4597,1.67,0.00,142.98,0.001,6,0.000,0.000,2991,2426,2153,0,0,0,0,0,0
$GC,4914,1.32,146.0,378.6,17.4,473,4919,0.32,2.78,0.00,0.000,4,0.000,0.000,2922,833,2155,0,0,0,0,0,0
$GC,4942,1.32,146.0,374.6,13.2,475,4947,0.00,2.67,0.00,0.000,6,0.000,0.000,2921,2378,2158,0,0,1,0,0,0
$GC,5267,1.32,146.0,332.0,13.0,505,5269,0.25,0.00,0.00,0.000,6,0.000,0.000,2987,2378,2157,0,0,0,0,0,0
$GC,5585,1.32,146.0,277.8,17.2,535,5591,0.57,2.95,0.00,0.000,4,0.000,0.000,2861,694,2156,1,0,1,0,0,0
$GC,5607,1.32,146.0,274.8,12.7,536,5614,0.52,3.17,0.00,0.000,6,0.000,0.000,2962,2358,2154,0,0,2,0,0,0
$GC,5933,1.32,146.0,224.7,15.9,567,5935,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2352,2155,0,0,0,0,0,0
$GC,6253,1.32,146.0,174.9,15.5,597,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2366,2154,0,0,0,0,0,0
$GC,6571,1.32,146.0,125.6,15.3,627,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2357,2154,0,0,0,0,0,0
$GC,6890,1.32,146.0,77.3,15.2,657,6894,0.00,2.83,0.00,0.000,4,0.000,0.000,2961,815,2158,0,0,1,0,0,0
$GC,6917,1.32,146.0,73.0,15.1,659,6922,0.00,2.83,0.00,0.000,6,0.000,0.000,2963,2364,2154,0,0,1,0,0,0
$GC,7241,1.32,146.0,27.2,13.6,689,7243,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2366,2157,0,0,0,0,0,0
$STATE,7439,end climb,SURFACE_DEPTH_REACHED
$STATE,7439,begin surface coast
$FINISH,-0.0,1.026363
$STATE,7455,end surface coast,CONTROL_FINISHED_OK
$STATE,7455,begin surface
$SM_CCo,7479,67.00,0.001,0,0,1730,250.21
$SM_GC,-0.00,0.00,0.00,67.00,0.000,0.000,0.001,317,2171,1730,-10.76,-1.58,250.21
$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,1078994605
$INTERNAL_PRESSURE,15.8893
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.4,999.0
$24V_AH,24.1,87.842
$10V_AH,10.7,23.275
$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,28.175,17.900,287.425,67.000,0.000,0.000,0.000,81.231,9.750,0.000,21.348,1151.438,5278.656,431.776,654.912,262.457,0.000,955.780,0.000,548.159,0.000,53.789,0.000
$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,578.683,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129516
$DATA_FILE_SIZE,22121,722
$CAP_FILE_SIZE,74291,0
$CFSIZE,260165632,246566912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,8,0,0
$SOUNDSPEED,1471.5
$GPS,290909,235137,6636.753,-5846.940,32,1.1,32,18.0