version: 66.07
glider: 99
mission: 63
dive: 177
start: 9 29 109 23 55 35
data:
$ID,99
$MISSION,63
$DIVE,177
$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,-821983
$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,61
$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
$GPS1,235137,6636.753,-5846.940,32,1.1,32,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,235515,6636.753,-5846.940,12,1.1,12,18.0
$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,258.5,85573,-18.1,-10.000
$D_GRID,717
$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,-146.0,0.0,0.0,0,72,0.00,0.00,-53.50,0.000,3,0.000,0.000,315,2172,3350,0,0,0,0,0,0
$GC,75,-1.32,-146.0,4.3,-21.7,11,90,10.27,2.58,0.00,0.000,4,0.000,0.000,2379,3675,3351,1,0,3,0,0,0
$GC,119,-1.32,-146.0,18.4,-12.1,19,124,0.00,3.00,0.00,0.000,6,0.000,0.000,2385,2144,3355,0,0,3,0,0,0
$GC,188,-1.32,-146.0,26.4,-11.3,27,190,0.30,0.00,0.00,0.000,6,0.000,0.000,2340,2152,3355,0,0,0,0,0,0
$GC,380,-1.32,-146.0,51.3,-12.7,45,382,0.25,0.00,0.00,0.000,6,0.000,0.000,2411,2144,3356,0,0,0,0,0,0
$GC,698,-1.32,-146.0,81.0,-8.9,75,704,0.47,2.72,0.00,0.000,4,0.000,0.000,2310,3704,3352,1,0,2,0,0,0
$GC,727,-1.32,-146.0,84.6,-13.4,77,733,0.52,2.88,0.00,0.000,6,0.000,0.000,2397,2134,3354,0,0,1,0,0,0
$GC,1051,-1.32,-146.0,115.9,-9.3,107,1053,0.30,0.00,0.00,0.000,6,0.000,0.000,2329,2140,3357,0,0,0,0,0,0
$GC,1370,-1.32,-146.0,153.8,-11.9,137,1375,0.35,2.75,0.00,0.000,4,0.000,0.000,2413,3704,3354,0,0,0,0,0,0
$GC,1409,-1.32,-146.0,157.4,-8.2,140,1415,0.47,2.95,0.00,0.000,6,0.000,0.000,2338,2066,3356,1,0,2,0,0,0
$GC,1733,-1.32,-146.0,193.1,-11.2,170,1739,0.22,2.80,0.00,0.000,4,0.000,0.000,2389,3665,3354,0,0,2,0,0,0
$GC,1767,-1.32,-146.0,196.3,-9.3,172,1772,0.00,2.92,0.00,0.000,6,0.000,0.000,2392,2032,3349,0,0,0,0,0,0
$GC,2096,-1.32,-146.0,225.7,-9.0,203,2102,0.28,2.85,0.00,0.000,4,0.000,0.000,2361,3603,3355,0,0,1,0,0,0
$GC,2141,-1.32,-146.0,230.9,-11.0,206,2146,0.00,2.70,0.00,0.000,6,0.000,0.000,2348,2101,3352,0,0,0,0,0,0
$GC,2465,-1.32,-146.0,266.0,-10.7,237,2469,0.00,2.60,0.00,0.000,4,0.000,0.000,2351,3691,3354,0,0,1,0,0,0
$GC,2493,-1.32,-146.0,269.0,-10.8,239,2498,0.30,2.75,0.00,0.000,6,0.000,0.000,2398,2125,3352,0,0,2,0,0,0
$GC,2817,-1.32,-146.0,298.2,-8.9,269,2823,0.20,2.83,0.00,0.000,4,0.000,0.000,2359,3683,3352,0,0,1,0,0,0
$GC,2841,-1.32,-146.0,300.5,-9.9,270,2846,0.00,2.83,0.00,0.000,6,0.000,0.000,2358,2096,3355,0,0,1,0,0,0
$GC,3166,-1.32,-146.0,334.9,-10.5,301,3170,0.00,2.70,0.00,0.000,4,0.000,0.000,2359,3612,3361,0,0,0,0,0,0
$GC,3193,-1.32,-146.0,337.8,-10.8,303,3198,0.00,2.58,0.00,0.000,6,0.000,0.000,2358,2172,3351,0,0,1,0,0,0
$GC,3521,-1.32,-146.0,372.0,-10.5,333,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2173,3349,0,0,0,0,0,0
$GC,3836,-1.32,-146.0,405.4,-10.6,363,3840,0.00,2.53,0.00,0.000,4,0.000,0.000,2354,3549,3352,0,0,0,0,0,0
$GC,3857,-1.32,-146.0,407.7,-10.4,364,3862,0.00,2.88,0.00,0.000,6,0.000,0.000,2362,2095,3354,0,0,2,0,0,0
$GC,4181,-1.32,-146.0,441.5,-10.4,395,4186,0.00,2.83,0.00,0.000,4,0.000,0.000,2356,3650,3353,0,0,1,0,0,0
$GC,4213,-1.32,-146.0,444.9,-10.5,397,4219,0.00,2.85,0.00,0.000,6,0.000,0.000,2350,2078,3351,0,0,1,0,0,0
$STATE,4271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4271,begin apogee
$GC,4278,-0.31,0.0,450.9,10.5,403,4427,1.45,0.00,145.05,0.001,6,0.000,0.000,2658,2388,2747,1,0,0,0,0,0
$STATE,4430,end apogee,CONTROL_FINISHED_OK
$STATE,4430,begin climb
$GC,4433,1.32,146.0,455.8,0.0,418,4582,1.52,0.00,143.52,0.001,6,0.000,0.000,2967,2387,2155,0,0,0,0,0,0
$GC,4898,1.32,146.0,387.3,16.5,463,4903,0.00,3.17,0.00,0.000,4,0.000,0.000,2970,745,2147,0,0,2,0,0,0
$GC,4930,1.32,146.0,381.9,16.0,465,4936,0.30,3.05,0.00,0.000,6,0.000,0.000,2931,2481,2150,0,0,1,0,0,0
$GC,5255,1.32,146.0,337.5,13.5,496,5260,0.00,3.00,0.00,0.000,4,0.000,0.000,2934,755,2152,0,0,1,0,0,0
$GC,5287,1.32,146.0,332.9,13.4,498,5292,0.00,3.00,0.00,0.000,6,0.000,0.000,2928,2430,2150,0,0,3,0,0,0
$GC,5612,1.32,146.0,288.8,13.7,529,5617,0.00,3.17,0.00,0.000,4,0.000,0.000,2933,614,2153,0,0,2,0,0,0
$GC,5632,1.32,146.0,285.8,13.8,530,5638,0.00,3.38,0.00,0.000,6,0.000,0.000,2928,2478,2151,0,0,1,0,0,0
$GC,5957,1.32,146.0,241.8,13.7,561,5962,0.00,3.17,0.00,0.000,4,0.000,0.000,2930,713,2151,0,0,1,0,0,0
$GC,5989,1.32,146.0,237.3,14.0,563,5995,0.00,2.92,0.00,0.000,6,0.000,0.000,2932,2396,2154,0,0,2,0,0,0
$GC,6314,1.32,146.0,193.4,13.8,594,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2397,2151,0,0,0,0,0,0
$GC,6635,1.32,146.0,150.4,13.4,624,6640,0.00,2.75,0.00,0.000,4,0.000,0.000,2935,809,2152,0,0,3,0,0,0
$GC,6663,1.32,146.0,146.4,13.4,626,6668,0.00,2.90,0.00,0.000,6,0.000,0.000,2926,2429,2157,0,0,1,0,0,0
$GC,6987,1.32,146.0,103.4,13.1,656,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2429,2152,0,0,0,0,0,0
$GC,7308,1.32,146.0,62.3,12.8,686,7313,0.00,2.97,0.00,0.000,4,0.000,0.000,2930,813,2157,0,0,2,0,0,0
$GC,7351,1.32,146.0,56.4,12.6,689,7357,0.00,2.83,0.00,0.000,6,0.000,0.000,2931,2412,2150,0,0,0,0,0,0
$GC,7677,1.32,146.0,18.0,11.3,721,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2411,2153,0,0,0,0,0,0
$GC,7750,1.32,146.0,10.0,10.9,734,7754,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2412,2155,0,0,0,0,0,0
$GC,7823,1.32,146.0,2.1,10.7,747,7828,0.00,2.80,0.00,0.000,4,0.000,0.000,2926,815,2156,0,0,0,0,0,0
$STATE,7831,end climb,SURFACE_DEPTH_REACHED
$STATE,7831,begin surface coast
$FINISH,-0.0,1.026358
$STATE,7849,end surface coast,CONTROL_FINISHED_OK
$STATE,7849,begin surface
$SM_CCo,7876,66.88,0.001,0,0,1732,250.70
$SM_GC,-0.00,0.00,0.00,66.88,0.000,0.000,0.001,340,2265,1732,-10.67,1.22,250.70
$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,0.034515
$HUMID,1079010089
$INTERNAL_PRESSURE,15.9479
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,426.0,999.0
$24V_AH,24.1,88.076
$10V_AH,10.7,23.316
$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,30.225,97.850,288.575,66.875,0.000,0.000,0.000,80.364,9.750,0.000,12.882,1314.241,5341.679,511.949,707.418,294.146,0.000,1106.777,0.000,603.272,2160.000,53.988,0.000
$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,602.802,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129580
$DATA_FILE_SIZE,25299,752
$CAP_FILE_SIZE,96145,0
$CFSIZE,260165632,246501376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,45,0,0
$SOUNDSPEED,1471.4
$GPS,300909,020914,6636.586,-5849.672,16,1.1,16,18.0