version: 66.07
glider: 99
mission: 63
dive: 181
start: 9 30 109 8 54 13
data:
$ID,99
$MISSION,63
$DIVE,181
$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,-822088.38
$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
$GPS1,085013,6635.704,-5857.347,10,1.1,11,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,085352,6635.704,-5857.347,11,1.1,11,18.0
$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,260.6,78270,-18.1,-10.000
$D_GRID,793
$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,-146.0,0.0,0.0,0,71,0.00,0.00,-53.47,0.000,6,0.000,0.000,258,2120,3357,0,0,0,0,0,0
$GC,75,-1.32,-146.0,4.7,-23.0,10,91,10.65,2.95,0.00,0.000,4,0.000,0.000,2417,3792,3360,3,0,1,0,0,0
$GC,130,-1.32,-146.0,19.3,-10.6,20,140,0.82,2.97,0.00,0.000,6,0.000,0.000,2243,2124,3356,1,0,0,0,0,0
$GC,204,-1.32,-146.0,32.9,-20.0,28,206,0.88,0.00,0.00,0.000,6,0.000,0.000,2423,2117,3356,0,0,0,0,0,0
$GC,395,-1.32,-146.0,51.6,-9.1,46,397,0.35,0.00,0.00,0.000,6,0.000,0.000,2353,2116,3353,0,0,0,0,0,0
$GC,713,-1.32,-146.0,89.4,-11.6,76,719,0.00,2.75,0.00,0.000,4,0.000,0.000,2347,3686,3353,0,0,0,0,0,0
$GC,752,-1.32,-146.0,94.0,-11.9,79,758,0.00,2.78,0.00,0.000,6,0.000,0.000,2350,2175,3356,0,0,1,0,0,0
$GC,1078,-1.32,-146.0,130.8,-11.1,110,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2171,3349,0,0,0,0,0,0
$GC,1396,-1.32,-146.0,166.2,-10.9,140,1400,0.00,2.72,0.00,0.000,4,0.000,0.000,2353,3735,3354,0,0,0,0,0,0
$GC,1423,-1.32,-146.0,169.2,-11.1,142,1428,0.00,3.17,0.00,0.000,6,0.000,0.000,2356,1933,3352,0,0,1,0,0,0
$GC,1747,-1.32,-146.0,204.6,-11.0,172,1752,0.00,3.15,0.00,0.000,4,0.000,0.000,2358,3681,3355,0,0,1,0,0,0
$GC,1808,-1.32,-146.0,211.2,-10.9,177,1813,0.00,2.78,0.00,0.000,6,0.000,0.000,2360,2148,3352,0,0,1,0,0,0
$GC,2132,-1.32,-146.0,246.3,-11.0,207,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2155,3353,0,0,0,0,0,0
$GC,2452,-1.32,-146.0,280.7,-10.7,237,2457,0.03,2.80,0.00,0.000,4,0.000,0.000,2381,3714,3351,0,0,1,0,0,0
$GC,2480,-1.32,-146.0,283.5,-9.4,239,2485,0.00,2.88,0.00,0.000,6,0.000,0.000,2389,2119,3357,0,0,1,0,0,0
$GC,2805,-1.32,-146.0,313.8,-9.3,269,2810,0.00,2.78,0.00,0.000,4,0.000,0.000,2385,3705,3349,0,0,3,0,0,0
$GC,2826,-1.32,-146.0,315.9,-9.2,270,2831,0.00,2.97,0.00,0.000,6,0.000,0.000,2380,2034,3355,0,0,2,0,0,0
$GC,3151,-1.32,-146.0,346.1,-9.4,301,3156,0.00,3.05,0.00,0.000,4,0.000,0.000,2379,3762,3355,0,0,2,0,0,0
$GC,3196,-1.32,-146.0,350.3,-9.1,304,3201,0.00,2.92,0.00,0.000,6,0.000,0.000,2387,2115,3352,0,0,1,0,0,0
$GC,3522,-1.32,-146.0,380.5,-9.4,335,3527,0.00,2.83,0.00,0.000,4,0.000,0.000,2388,3700,3351,0,0,1,0,0,0
$GC,3543,-1.32,-146.0,382.8,-9.1,336,3549,0.00,2.75,0.00,0.000,6,0.000,0.000,2383,2132,3352,0,0,0,0,0,0
$GC,3869,-1.32,-146.0,412.8,-9.2,367,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2136,3355,0,0,0,0,0,0
$GC,4187,-1.32,-146.0,442.2,-9.2,397,4192,0.00,2.95,0.00,0.000,4,0.000,0.000,2385,3768,3352,0,0,1,0,0,0
$GC,4226,-1.32,-146.0,445.8,-9.4,400,4231,0.00,2.92,0.00,0.000,6,0.000,0.000,2390,2145,3354,0,0,1,0,0,0
$STATE,4272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4272,begin apogee
$GC,4279,-0.31,0.0,450.3,9.2,404,4428,1.10,0.00,145.32,0.001,6,0.000,0.000,2632,2438,2748,0,0,0,0,0,0
$STATE,4431,end apogee,CONTROL_FINISHED_OK
$STATE,4432,begin climb
$GC,4434,1.32,146.0,452.5,0.0,419,4587,1.83,2.42,142.82,0.001,4,0.000,0.000,3006,3662,2156,1,0,2,0,0,0
$GC,4615,1.32,146.0,427.7,18.9,436,4620,0.52,2.50,0.00,0.000,6,0.000,0.000,2925,2259,2152,0,0,1,0,0,0
$GC,4939,1.32,146.0,385.5,12.8,467,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2262,2148,0,0,0,0,0,0
$GC,5261,1.32,146.0,344.6,13.0,497,5267,0.28,2.60,0.00,0.000,4,0.000,0.000,2959,3684,2158,0,0,1,0,0,0
$GC,5289,1.32,146.0,339.9,15.2,499,5294,0.00,2.60,0.00,0.000,6,0.000,0.000,2957,2114,2157,0,0,0,0,0,0
$GC,5614,1.32,146.0,289.9,15.4,529,5618,0.00,2.83,0.00,0.000,4,0.000,0.000,2961,3683,2150,0,0,0,0,0,0
$GC,5663,1.32,146.0,282.2,15.5,533,5668,0.00,2.55,0.00,0.000,6,0.000,0.000,2958,2220,2153,0,0,1,0,0,0
$GC,5988,1.32,146.0,232.3,15.6,563,5992,0.00,2.67,0.00,0.000,4,0.000,0.000,2958,3694,2156,0,0,0,0,0,0
$GC,6015,1.32,146.0,228.1,15.6,565,6020,0.00,3.28,0.00,0.000,6,0.000,0.000,2965,2212,2149,0,0,3,0,0,0
$GC,6339,1.32,146.0,178.5,15.3,595,6344,0.00,2.70,0.00,0.000,4,0.000,0.000,2966,3715,2152,0,0,0,0,0,0
$GC,6367,1.32,146.0,174.3,15.0,597,6372,0.00,2.70,0.00,0.000,6,0.000,0.000,2955,2253,2156,0,0,1,0,0,0
$GC,6691,1.32,146.0,125.1,15.2,627,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2254,2156,0,0,0,0,0,0
$GC,7012,1.32,146.0,78.0,14.6,657,7017,0.00,2.53,0.00,0.000,4,0.000,0.000,2959,3714,2146,0,0,1,0,0,0
$GC,7040,1.32,146.0,73.5,14.2,659,7045,0.00,2.65,0.00,0.000,6,0.000,0.000,2956,2226,2156,0,0,0,0,0,0
$GC,7364,1.32,146.0,28.8,13.3,689,7369,0.00,2.62,0.00,0.000,4,0.000,0.000,2960,3663,2153,0,0,2,0,0,0
$GC,7392,1.32,146.0,25.2,12.9,691,7397,0.03,2.58,0.00,0.000,6,0.000,0.000,2961,2259,2149,0,0,1,0,0,0
$STATE,7583,end climb,SURFACE_DEPTH_REACHED
$STATE,7583,begin surface coast
$FINISH,-0.0,1.026341
$STATE,7601,end surface coast,CONTROL_FINISHED_OK
$STATE,7602,begin surface
$SM_CCo,7626,66.90,0.001,0,0,1735,250.45
$SM_GC,-0.00,0.00,0.00,66.90,0.000,0.000,0.001,337,2178,1735,-10.71,-1.72,250.45
$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,0.032214
$HUMID,1079025573
$INTERNAL_PRESSURE,16.0065
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.5,999.0
$24V_AH,24.1,89.035
$10V_AH,10.7,23.471
$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,29.575,90.025,288.150,66.900,0.000,0.000,0.000,80.927,9.750,0.000,13.616,1224.514,5214.932,477.132,704.427,289.107,0.000,1075.203,0.000,595.216,360.000,53.492,0.000
$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,580.199,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129584
$DATA_FILE_SIZE,22166,724
$CAP_FILE_SIZE,92587,0
$CFSIZE,260165632,246337536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,6,31,0,0
$SOUNDSPEED,1471.6
$GPS,300909,110337,6635.501,-5859.971,20,1.1,20,18.0