version: 66.07
glider: 99
mission: 63
dive: 182
start: 9 30 109 11 8 4
data:
$ID,99
$MISSION,63
$DIVE,182
$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,-822127.12
$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
$GPS1,110337,6635.501,-5859.971,20,1.1,20,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,110743,6635.501,-5859.971,35,1.1,35,18.0
$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,261.1,76427,-18.1,-10.000
$D_GRID,808
$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,-53.42,0.000,6,0.000,0.000,335,2166,3356,0,0,0,0,0,0
$GC,74,-1.32,-146.0,4.7,-23.8,11,90,10.25,2.90,0.00,0.000,4,0.000,0.000,2387,3764,3357,1,0,1,0,0,0
$GC,113,-1.32,-146.0,18.5,-15.5,18,118,0.00,3.00,0.00,0.000,6,0.000,0.000,2391,2127,3354,0,0,1,0,0,0
$GC,182,-1.32,-146.0,26.6,-11.7,26,183,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2123,3361,0,0,0,0,0,0
$GC,375,-1.32,-146.0,48.1,-11.1,44,376,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2132,3360,0,0,0,0,0,0
$GC,565,-1.32,-146.0,68.5,-10.4,62,569,0.00,2.78,0.00,0.000,4,0.000,0.000,2379,3667,3354,0,0,0,0,0,0
$GC,592,-1.32,-146.0,71.4,-10.6,64,596,0.00,2.72,0.00,0.000,6,0.000,0.000,2381,2146,3355,0,0,1,0,0,0
$GC,916,-1.32,-146.0,104.2,-10.0,94,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2131,3355,0,0,0,0,0,0
$GC,1235,-1.32,-146.0,135.6,-9.7,124,1240,0.00,2.65,0.00,0.000,4,0.000,0.000,2382,3646,3360,0,0,1,0,0,0
$GC,1274,-1.32,-146.0,139.4,-9.8,127,1279,0.00,2.70,0.00,0.000,6,0.000,0.000,2385,2127,3359,0,0,1,0,0,0
$GC,1600,-1.32,-146.0,170.6,-9.5,157,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2126,3356,0,0,0,0,0,0
$GC,1918,-1.32,-146.0,201.0,-9.6,187,1923,0.00,2.90,0.00,0.000,4,0.000,0.000,2381,3781,3358,0,0,0,0,0,0
$GC,1958,-1.32,-146.0,204.8,-9.3,190,1963,0.00,2.92,0.00,0.000,6,0.000,0.000,2386,2155,3357,0,0,1,0,0,0
$GC,2283,-1.32,-146.0,235.4,-9.5,220,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2152,3353,0,0,0,0,0,0
$GC,2602,-1.32,-146.0,265.4,-9.5,250,2606,0.00,2.83,0.00,0.000,4,0.000,0.000,2380,3685,3360,0,0,0,0,0,0
$GC,2634,-1.32,-146.0,268.6,-9.3,252,2639,0.00,2.72,0.00,0.000,6,0.000,0.000,2378,2115,3360,0,0,1,0,0,0
$GC,2959,-1.32,-146.0,299.0,-9.4,283,2963,0.00,2.83,0.00,0.000,4,0.000,0.000,2381,3704,3361,0,0,0,0,0,0
$GC,2980,-1.32,-146.0,301.0,-9.0,284,2985,0.00,2.92,0.00,0.000,6,0.000,0.000,2394,2007,3353,0,0,1,0,0,0
$GC,3304,-1.32,-146.0,331.3,-9.4,315,3309,0.00,2.85,0.00,0.000,4,0.000,0.000,2391,3757,3362,0,0,1,0,0,0
$GC,3348,-1.32,-146.0,335.5,-9.2,318,3353,0.00,2.85,0.00,0.000,6,0.000,0.000,2386,2127,3359,0,0,2,0,0,0
$GC,3673,-1.32,-146.0,365.8,-9.2,349,3677,0.00,2.85,0.00,0.000,4,0.000,0.000,2384,3784,3358,0,0,1,0,0,0
$GC,3694,-1.32,-146.0,367.8,-9.4,350,3699,0.00,3.17,0.00,0.000,6,0.000,0.000,2384,2073,3354,0,0,2,0,0,0
$GC,4019,-1.32,-146.0,398.0,-9.4,381,4023,0.00,3.08,0.00,0.000,4,0.000,0.000,2387,3794,3358,0,0,2,0,0,0
$GC,4051,-1.32,-146.0,401.1,-9.4,383,4056,0.00,3.03,0.00,0.000,6,0.000,0.000,2385,2134,3360,0,0,1,0,0,0
$GC,4376,-1.32,-146.0,431.1,-9.2,414,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2138,3364,0,0,0,0,0,0
$STATE,4586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4586,begin apogee
$GC,4593,-0.31,0.0,450.7,9.3,434,4744,1.12,0.00,146.30,0.001,6,0.000,0.000,2620,2448,2750,0,0,0,0,0,0
$STATE,4746,end apogee,CONTROL_FINISHED_OK
$STATE,4747,begin climb
$GC,4749,1.32,146.0,453.0,0.0,449,4898,1.90,0.00,142.90,0.001,6,0.000,0.000,2969,2445,2157,1,0,0,0,0,0
$GC,5214,1.32,146.0,384.0,16.6,494,5219,0.32,2.95,0.00,0.000,4,0.000,0.000,2915,806,2160,0,0,0,0,0,0
$GC,5258,1.32,146.0,378.3,12.1,497,5264,0.43,2.85,0.00,0.000,6,0.000,0.000,2970,2460,2160,0,0,1,0,0,0
$GC,5582,1.32,146.0,326.1,16.3,528,5587,0.00,3.10,0.00,0.000,4,0.000,0.000,2969,718,2157,0,0,2,0,0,0
$GC,5610,1.32,146.0,321.5,16.2,530,5615,0.32,3.05,0.00,0.000,6,0.000,0.000,2916,2396,2152,0,0,1,0,0,0
$GC,5934,1.32,146.0,280.8,12.6,560,5936,0.32,0.00,0.00,0.000,6,0.000,0.000,2989,2405,2154,0,0,0,0,0,0
$GC,6252,1.32,146.0,227.0,16.9,590,6263,0.38,2.88,0.73,0.000,4,0.000,0.000,2865,817,2153,0,0,2,0,0,0
$GC,6290,1.32,148.9,222.8,9.9,593,6301,0.55,2.92,4.45,0.000,6,0.000,0.000,2979,2374,2150,0,0,2,0,0,0
$GC,6620,1.32,148.9,168.8,16.5,624,6622,0.22,0.00,0.22,0.000,6,0.000,0.000,2911,2375,2143,0,0,0,0,0,0
$GC,6938,1.32,148.9,128.4,12.4,654,6944,0.28,2.97,0.00,0.000,4,0.000,0.000,2982,816,2146,0,0,1,0,0,0
$GC,6960,1.32,148.9,125.0,15.6,655,6966,0.50,2.90,0.00,0.000,6,0.000,0.000,2853,2430,2138,1,0,1,0,0,0
$GC,7285,1.34,162.4,93.6,9.4,686,7306,0.55,3.08,13.55,0.001,4,0.000,0.000,2978,753,2088,0,0,2,0,0,0
$GC,7323,1.34,162.4,87.6,16.7,689,7329,0.43,2.95,0.00,0.000,6,0.000,0.000,2909,2397,2085,0,0,1,0,0,0
$GC,7647,1.34,162.4,47.2,12.1,720,7649,0.38,0.00,0.00,0.000,6,0.000,0.000,2982,2401,2087,0,0,0,0,0,0
$GC,7839,1.34,162.4,18.2,14.9,739,7844,0.00,2.72,0.00,0.000,4,0.000,0.000,2979,839,2085,0,0,0,0,0,0
$GC,7867,1.34,162.4,14.2,14.5,744,7873,0.28,2.85,0.00,0.000,6,0.000,0.000,2938,2404,2084,0,0,1,0,0,0
$GC,7941,1.34,162.4,5.2,12.6,757,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2399,2084,0,0,0,0,0,0
$STATE,7966,end climb,SURFACE_DEPTH_REACHED
$STATE,7966,begin surface coast
$FINISH,-0.0,1.026349
$STATE,7984,end surface coast,CONTROL_FINISHED_OK
$STATE,7984,begin surface
$SM_CCo,8008,56.92,0.001,0,0,1733,250.70
$SM_GC,-0.01,0.00,0.00,56.92,0.000,0.000,0.001,333,2184,1733,-10.64,-1.30,250.70
$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,0.031447
$HUMID,1079019766
$INTERNAL_PRESSURE,16.026
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.2,999.0
$24V_AH,24.1,89.273
$10V_AH,10.7,23.512
$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,31.225,87.900,308.150,56.925,0.000,0.000,0.000,84.082,9.750,0.000,38.099,1319.587,5458.711,509.492,737.289,293.660,0.000,1106.839,0.000,607.867,2160.000,54.003,0.000
$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,613.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129492
$DATA_FILE_SIZE,25268,765
$CAP_FILE_SIZE,97639,0
$CFSIZE,260165632,246288384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,33,0,0
$SOUNDSPEED,1471.3
$GPS,300909,132402,6635.386,-5902.756,31,1.1,32,18.0