version: 66.07
glider: 99
mission: 63
dive: 179
start: 9 30 109 4 23 55
data:
$ID,99
$MISSION,63
$DIVE,179
$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,-822037.44
$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,2
$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
$GPS1,041935,6636.259,-5852.170,5,1.1,5,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,042333,6636.259,-5852.170,33,1.1,33,18.0
$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,259.5,81882,-18.1,-10.000
$D_GRID,753
$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,-53.08,0.000,6,0.000,0.000,265,2304,3347,0,0,0,0,0,0
$GC,74,-1.32,-146.0,5.0,-25.7,10,91,10.48,3.17,0.00,0.000,4,0.000,0.000,2403,511,3341,1,0,2,0,0,0
$GC,130,-1.32,-146.0,19.8,-11.0,20,136,0.30,3.15,0.00,0.000,6,0.000,0.000,2356,2308,3349,0,0,3,0,0,0
$GC,333,-1.32,-146.0,45.5,-12.5,40,334,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2299,3346,0,0,0,0,0,0
$GC,524,-1.32,-146.0,68.3,-11.7,58,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2309,3345,0,0,0,0,0,0
$GC,843,-1.32,-146.0,104.5,-11.2,88,848,0.00,2.75,0.00,0.000,4,0.000,0.000,2349,688,3349,0,0,2,0,0,0
$GC,882,-1.32,-146.0,108.7,-11.2,91,886,0.00,2.92,0.00,0.000,6,0.000,0.000,2362,2376,3350,0,0,1,0,0,0
$GC,1206,-1.32,-146.0,144.1,-11.0,121,1212,0.00,2.95,0.00,0.000,4,0.000,0.000,2354,695,3353,0,0,1,0,0,0
$GC,1234,-1.32,-146.0,147.3,-10.9,123,1239,0.00,2.95,0.00,0.000,6,0.000,0.000,2352,2336,3349,0,0,1,0,0,0
$GC,1559,-1.32,-146.0,181.8,-10.8,154,1564,0.00,2.97,0.00,0.000,4,0.000,0.000,2355,715,3347,0,0,2,0,0,0
$GC,1587,-1.32,-146.0,184.8,-11.0,156,1592,0.00,3.08,0.00,0.000,6,0.000,0.000,2353,2288,3346,0,0,2,0,0,0
$GC,1912,-1.32,-146.0,219.0,-10.4,186,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2292,3350,0,0,0,0,0,0
$GC,2230,-1.32,-146.0,252.5,-10.5,216,2234,0.00,2.78,0.00,0.000,4,0.000,0.000,2350,739,3344,0,0,0,0,0,0
$GC,2257,-1.32,-146.0,255.4,-10.2,218,2263,0.20,2.80,0.00,0.000,6,0.000,0.000,2374,2324,3349,0,0,1,0,0,0
$GC,2582,-1.32,-146.0,286.8,-9.6,248,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2325,3346,0,0,0,0,0,0
$GC,2900,-1.32,-146.0,317.6,-9.8,278,2905,0.00,2.92,0.00,0.000,4,0.000,0.000,2385,738,3348,0,0,1,0,0,0
$GC,2944,-1.32,-146.0,321.9,-9.9,281,2949,0.00,2.85,0.00,0.000,6,0.000,0.000,2381,2308,3348,0,0,1,0,0,0
$GC,3269,-1.32,-146.0,353.1,-9.6,312,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2305,3345,0,0,0,0,0,0
$GC,3587,-1.32,-146.0,383.7,-9.7,342,3592,0.00,2.83,0.00,0.000,4,0.000,0.000,2376,708,3346,0,0,1,0,0,0
$GC,3620,-1.32,-146.0,386.9,-9.4,344,3625,0.00,2.92,0.00,0.000,6,0.000,0.000,2374,2335,3349,0,0,1,0,0,0
$GC,3945,-1.32,-146.0,417.9,-9.5,375,3949,0.00,3.05,0.00,0.000,4,0.000,0.000,2373,627,3341,0,0,4,0,0,0
$GC,3973,-1.32,-146.0,420.6,-9.5,377,3978,0.00,2.97,0.00,0.000,6,0.000,0.000,2377,2295,3351,0,0,3,0,0,0
$STATE,4284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4284,begin apogee
$GC,4291,-0.31,0.0,450.5,9.5,406,4439,1.12,0.00,143.55,0.001,6,0.000,0.000,2621,2402,2748,0,0,0,0,0,0
$STATE,4442,end apogee,CONTROL_FINISHED_OK
$STATE,4442,begin climb
$GC,4445,1.32,146.0,452.6,0.0,421,4598,1.65,2.50,142.12,0.001,4,0.000,0.000,2958,3692,2157,0,0,1,0,0,0
$GC,4614,1.32,146.0,432.9,15.6,437,4619,0.00,2.50,0.00,0.000,6,0.000,0.000,2964,2235,2155,0,0,1,0,0,0
$GC,4939,1.32,146.0,382.0,15.6,468,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2234,2158,0,0,0,0,0,0
$GC,5259,1.32,146.0,332.0,15.6,498,5264,0.00,2.65,0.00,0.000,4,0.000,0.000,2965,3699,2152,0,0,2,0,0,0
$GC,5298,1.32,146.0,325.5,15.4,501,5303,0.00,2.67,0.00,0.000,6,0.000,0.000,2956,2206,2152,0,0,1,0,0,0
$GC,5623,1.32,146.0,274.8,15.5,531,5627,0.00,2.72,0.00,0.000,4,0.000,0.000,2965,3763,2151,0,0,0,0,0,0
$GC,5650,1.32,146.0,270.5,15.6,533,5654,0.00,2.75,0.00,0.000,6,0.000,0.000,2961,2209,2152,0,0,0,0,0,0
$GC,5974,1.32,146.0,219.9,15.8,563,5979,0.00,2.97,0.00,0.000,4,0.000,0.000,2966,3679,2155,0,0,2,0,0,0
$GC,6002,1.32,146.0,215.6,15.9,565,6006,0.00,2.60,0.00,0.000,6,0.000,0.000,2965,2237,2155,0,0,2,0,0,0
$GC,6326,1.32,146.0,165.2,15.8,595,6328,0.20,0.00,0.00,0.000,6,0.000,0.000,2916,2243,2153,0,0,0,0,0,0
$GC,6646,1.32,146.0,124.4,12.5,625,6652,0.22,2.50,0.45,0.000,4,0.000,0.000,2996,3600,2157,0,0,0,0,0,0
$GC,6687,1.32,146.0,117.6,17.6,628,6692,0.45,2.62,0.00,0.000,6,0.000,0.000,2925,2196,2153,0,0,2,0,0,0
$GC,7011,1.32,146.0,74.9,13.0,658,7015,0.00,2.72,0.00,0.000,4,0.000,0.000,2931,3715,2153,0,0,0,0,0,0
$GC,7043,1.32,146.0,70.8,13.0,660,7048,0.00,2.70,0.00,0.000,6,0.000,0.000,2925,2172,2150,0,0,2,0,0,0
$GC,7367,1.32,146.0,31.5,11.7,691,7372,0.00,2.70,0.00,0.000,4,0.000,0.000,2936,3672,2154,0,0,1,0,0,0
$GC,7400,1.32,146.0,27.7,11.3,693,7405,0.00,2.50,0.00,0.000,6,0.000,0.000,2920,2261,2156,0,0,0,0,0,0
$GC,7604,1.32,146.0,5.5,10.9,724,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2261,2159,0,0,0,0,0,0
$STATE,7635,end climb,SURFACE_DEPTH_REACHED
$STATE,7635,begin surface coast
$FINISH,-0.0,1.026361
$STATE,7653,end surface coast,CONTROL_FINISHED_OK
$STATE,7653,begin surface
$SM_CCo,7677,67.90,0.001,0,0,1728,250.45
$SM_GC,-0.00,0.00,0.00,67.90,0.000,0.000,0.001,347,2116,1728,-10.62,-3.02,250.45
$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,0.031447
$HUMID,1079022347
$INTERNAL_PRESSURE,15.9674
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.2,999.0
$24V_AH,24.1,88.553
$10V_AH,10.7,23.393
$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,27.650,84.625,286.125,67.900,0.000,0.000,0.000,81.014,9.750,0.000,35.943,1248.189,5240.985,471.670,732.792,289.613,0.000,1068.519,0.000,593.859,1440.000,55.516,0.000
$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,588.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129580
$DATA_FILE_SIZE,25244,733
$CAP_FILE_SIZE,91801,0
$CFSIZE,260165632,246419456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,40,0,0
$SOUNDSPEED,1471.4
$GPS,300909,063423,6635.913,-5854.725,30,1.1,30,18.0