version: 66.07
glider: 99
mission: 63
dive: 178
start: 9 30 109 2 14 8
data:
$ID,99
$MISSION,63
$DIVE,178
$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,-822000.88
$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,3
$R_STBD_OVSHOOT,42
$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
$GPS1,020914,6636.586,-5849.672,16,1.1,16,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,021257,6636.586,-5849.672,14,1.1,14,18.0
$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,258.9,83622,-18.1,-10.000
$D_GRID,738
$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,-53.28,0.000,6,0.000,0.000,337,2266,3348,0,0,0,0,0,0
$GC,74,-1.32,-146.0,4.5,-22.5,11,90,10.10,2.67,0.00,0.000,4,0.000,0.000,2417,743,3346,1,0,2,0,0,0
$GC,124,-1.32,-146.0,18.4,-10.2,20,130,0.45,2.80,0.00,0.000,6,0.000,0.000,2353,2283,3348,0,0,1,0,0,0
$GC,194,-1.32,-146.0,27.6,-13.4,28,196,0.25,0.00,0.00,0.000,6,0.000,0.000,2387,2281,3348,0,0,0,0,0,0
$GC,386,-1.32,-146.0,48.4,-10.7,46,387,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2284,3347,0,0,0,0,0,0
$GC,577,-1.32,-146.0,67.9,-10.0,64,583,0.28,3.08,0.00,0.000,4,0.000,0.000,2354,596,3342,0,0,2,0,0,0
$GC,598,-1.32,-146.0,70.6,-11.6,65,604,0.00,3.00,0.00,0.000,6,0.000,0.000,2347,2278,3350,0,0,0,0,0,0
$GC,923,-1.32,-146.0,107.8,-11.2,96,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2271,3343,0,0,0,0,0,0
$GC,1242,-1.32,-146.0,143.3,-11.0,126,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2275,3350,0,0,0,0,0,0
$GC,1561,-1.32,-146.0,178.0,-10.8,156,1565,0.00,2.88,0.00,0.000,4,0.000,0.000,2352,655,3346,0,0,1,0,0,0
$GC,1588,-1.32,-146.0,180.9,-10.7,158,1593,0.00,2.92,0.00,0.000,6,0.000,0.000,2345,2211,3347,0,0,0,0,0,0
$GC,1913,-1.32,-146.0,215.8,-10.6,188,1917,0.00,2.95,0.00,0.000,4,0.000,0.000,2356,684,3345,0,0,1,0,0,0
$GC,1940,-1.32,-146.0,218.8,-10.9,190,1945,0.00,2.97,0.00,0.000,6,0.000,0.000,2348,2351,3347,0,0,1,0,0,0
$GC,2265,-1.32,-146.0,253.5,-10.6,220,2270,0.30,3.03,0.00,0.000,4,0.000,0.000,2410,809,3350,0,0,2,0,0,0
$GC,2287,-1.32,-146.0,255.7,-9.1,221,2293,0.50,2.97,0.00,0.000,6,0.000,0.000,2349,2341,3345,1,0,1,0,0,0
$GC,2611,-1.32,-146.0,289.4,-10.5,252,2616,0.00,2.88,0.00,0.000,4,0.000,0.000,2356,754,3349,0,0,0,0,0,0
$GC,2639,-1.32,-146.0,292.3,-10.3,254,2643,0.00,2.88,0.00,0.000,6,0.000,0.000,2355,2342,3340,0,0,1,0,0,0
$GC,2963,-1.32,-146.0,326.3,-10.5,284,2968,0.00,2.88,0.00,0.000,4,0.000,0.000,2355,701,3349,0,0,1,0,0,0
$GC,2991,-1.32,-146.0,329.2,-10.4,286,2996,0.00,3.10,0.00,0.000,6,0.000,0.000,2351,2475,3343,0,0,2,0,0,0
$GC,3315,-1.32,-146.0,363.2,-10.4,316,3320,0.00,3.15,0.00,0.000,4,0.000,0.000,2350,739,3348,0,0,0,0,0,0
$GC,3365,-1.32,-146.0,368.4,-10.8,320,3370,0.00,3.30,0.00,0.000,6,0.000,0.000,2356,2341,3349,0,0,2,0,0,0
$GC,3689,-1.32,-146.0,402.3,-10.5,350,3694,0.00,3.03,0.00,0.000,4,0.000,0.000,2355,744,3347,0,0,1,0,0,0
$GC,3718,-1.32,-146.0,405.2,-10.6,352,3723,0.00,3.00,0.00,0.000,6,0.000,0.000,2359,2309,3344,0,0,2,0,0,0
$GC,4043,-1.32,-146.0,438.9,-10.2,382,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2300,3347,0,0,0,0,0,0
$STATE,4157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4157,begin apogee
$GC,4164,-0.31,0.0,450.9,10.1,393,4312,1.42,0.00,143.38,0.001,6,0.000,0.000,2624,2466,2746,1,0,0,0,0,0
$STATE,4315,end apogee,CONTROL_FINISHED_OK
$STATE,4315,begin climb
$GC,4318,1.32,146.0,453.4,0.0,408,4471,2.00,2.30,142.32,0.001,4,0.000,0.000,3014,3689,2154,1,0,1,0,0,0
$GC,4499,1.32,146.0,427.5,18.8,425,4504,0.50,2.58,0.00,0.000,6,0.000,0.000,2918,2275,2152,0,0,1,0,0,0
$GC,4823,1.32,146.0,383.8,13.3,456,4825,0.20,0.00,0.00,0.000,6,0.000,0.000,2964,2270,2155,0,0,0,0,0,0
$GC,5143,1.32,146.0,333.9,15.6,486,5148,0.00,2.65,0.00,0.000,4,0.000,0.000,2964,3728,2151,0,0,0,0,0,0
$GC,5165,1.32,146.0,330.1,15.9,487,5170,0.00,2.67,0.00,0.000,6,0.000,0.000,2961,2222,2158,0,0,3,0,0,0
$GC,5489,1.32,146.0,279.2,15.8,518,5494,0.00,2.67,0.00,0.000,4,0.000,0.000,2968,3709,2155,0,0,1,0,0,0
$GC,5518,1.32,146.0,274.8,16.2,520,5522,0.00,2.70,0.00,0.000,6,0.000,0.000,2969,2200,2155,0,0,1,0,0,0
$GC,5842,1.32,146.0,224.0,15.5,550,5846,0.00,2.70,0.00,0.000,4,0.000,0.000,2965,3693,2156,0,0,2,0,0,0
$GC,5869,1.32,146.0,219.7,15.8,552,5874,0.00,2.75,0.00,0.000,6,0.000,0.000,2961,2239,2151,0,0,2,0,0,0
$GC,6193,1.32,146.0,169.1,15.7,582,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2238,2149,0,0,0,0,0,0
$GC,6516,1.32,146.0,119.8,15.5,612,6520,0.00,2.53,0.00,0.000,4,0.000,0.000,2960,3664,2151,0,0,0,0,0,0
$GC,6559,1.32,146.0,112.5,15.7,615,6564,0.00,2.62,0.00,0.000,6,0.000,0.000,2961,2211,2150,0,0,1,0,0,0
$GC,6884,1.32,146.0,64.2,14.5,646,6888,0.00,2.62,0.00,0.000,4,0.000,0.000,2961,3652,2150,0,0,0,0,0,0
$GC,6911,1.32,146.0,60.2,14.8,648,6915,0.00,2.58,0.00,0.000,6,0.000,0.000,2962,2219,2153,0,0,0,0,0,0
$GC,7237,1.32,146.0,15.6,12.8,681,7242,0.00,2.60,0.00,0.000,4,0.000,0.000,2966,3672,2149,0,0,0,0,0,0
$GC,7259,1.32,146.0,12.9,12.3,685,7264,0.00,2.90,0.00,0.000,6,0.000,0.000,2964,2081,2156,0,0,3,0,0,0
$GC,7332,1.32,146.0,3.9,12.2,698,7336,0.17,0.00,0.00,0.000,6,0.000,0.000,2925,2084,2152,0,0,0,0,0,0
$STATE,7351,end climb,SURFACE_DEPTH_REACHED
$STATE,7351,begin surface coast
$FINISH,-0.0,1.026353
$STATE,7369,end surface coast,CONTROL_FINISHED_OK
$STATE,7370,begin surface
$SM_CCo,7394,66.75,0.001,0,0,1729,250.21
$SM_GC,-0.00,0.00,0.00,66.75,0.000,0.000,0.001,273,2312,1729,-10.99,2.32,250.21
$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,0.029913
$HUMID,1079024282
$INTERNAL_PRESSURE,15.9479
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.7,999.0
$24V_AH,24.1,88.321
$10V_AH,10.7,23.354
$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,29.425,91.125,285.700,66.750,0.000,0.000,0.000,80.786,9.750,0.000,17.243,1224.486,5025.875,484.472,677.682,328.495,0.000,1057.965,0.000,574.768,720.000,55.780,0.000
$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,564.941,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,130584
$DATA_FILE_SIZE,22126,705
$CAP_FILE_SIZE,91350,0
$CFSIZE,260165632,246464512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,6,37,0,0
$SOUNDSPEED,1471.4
$GPS,300909,041935,6636.259,-5852.170,5,1.1,5,18.0