version: 66.07
glider: 99
mission: 63
dive: 187
start: 9 30 109 22 22 36
data:
$ID,99
$MISSION,63
$DIVE,187
$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,-822231.88
$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,10
$R_STBD_OVSHOOT,6
$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
$GPS1,221840,6634.711,-5913.312,8,1.1,8,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,222214,6634.711,-5913.312,8,1.1,8,18.0
$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,263.6,67073,-18.1,-10.000
$D_GRID,823
$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,-53.65,0.000,6,0.000,0.000,332,2310,3347,0,0,0,0,0,0
$GC,75,-1.32,-146.0,4.5,-23.0,11,90,10.23,2.92,0.00,0.000,4,0.000,0.000,2423,836,3350,1,0,1,0,0,0
$GC,146,-1.32,-146.0,20.6,-10.2,23,152,0.77,3.00,0.00,0.000,6,0.000,0.000,2285,2298,3349,1,0,0,0,0,0
$GC,343,-1.32,-146.0,51.9,-15.7,42,345,0.43,0.00,0.00,0.000,6,0.000,0.000,2408,2299,3356,0,0,0,0,0,0
$GC,662,-1.32,-146.0,82.2,-9.2,72,667,0.35,2.80,0.00,0.000,4,0.000,0.000,2340,709,3352,0,0,1,0,0,0
$GC,690,-1.32,-146.0,85.5,-12.3,74,695,0.30,2.90,0.00,0.000,6,0.000,0.000,2389,2336,3354,0,0,0,0,0,0
$GC,1015,-1.32,-146.0,118.0,-9.9,104,1019,0.00,2.90,0.00,0.000,4,0.000,0.000,2393,715,3351,0,0,0,0,0,0
$GC,1036,-1.32,-146.0,120.2,-9.9,105,1041,0.00,2.80,0.00,0.000,6,0.000,0.000,2380,2289,3353,0,0,1,0,0,0
$GC,1361,-1.32,-146.0,151.6,-9.7,136,1363,0.32,0.00,0.00,0.000,6,0.000,0.000,2308,2290,3347,0,0,0,0,0,0
$GC,1679,-1.32,-146.0,192.1,-12.6,166,1684,0.47,2.85,0.00,0.000,4,0.000,0.000,2408,737,3350,1,0,1,0,0,0
$GC,1708,-1.32,-146.0,194.8,-8.9,168,1713,0.40,2.90,0.00,0.000,6,0.000,0.000,2327,2375,3351,0,0,1,0,0,0
$GC,2032,-1.32,-146.0,234.3,-12.1,198,2037,0.25,2.85,0.00,0.000,4,0.000,0.000,2383,741,3352,0,0,0,0,0,0
$GC,2065,-1.32,-146.0,237.7,-9.2,200,2070,0.00,2.83,0.00,0.000,6,0.000,0.000,2386,2321,3350,0,0,1,0,0,0
$GC,2389,-1.32,-146.0,267.9,-9.2,231,2394,0.00,2.83,0.00,0.000,4,0.000,0.000,2385,732,3351,0,0,0,0,0,0
$GC,2410,-1.32,-146.0,270.0,-9.4,232,2416,0.00,2.97,0.00,0.000,6,0.000,0.000,2390,2361,3353,0,0,1,0,0,0
$GC,2736,-1.32,-146.0,300.0,-9.2,263,2740,0.00,2.90,0.00,0.000,4,0.000,0.000,2390,708,3355,0,0,1,0,0,0
$GC,2768,-1.32,-146.0,303.2,-9.2,265,2773,0.00,2.80,0.00,0.000,6,0.000,0.000,2388,2337,3352,0,0,1,0,0,0
$GC,3093,-1.32,-146.0,333.2,-9.4,296,3099,0.30,3.25,0.00,0.000,4,0.000,0.000,2338,652,3354,0,0,2,0,0,0
$GC,3115,-1.32,-146.0,335.6,-10.3,297,3121,0.28,2.95,0.00,0.000,6,0.000,0.000,2386,2288,3354,0,0,1,0,0,0
$GC,3440,-1.32,-146.0,365.8,-9.4,328,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2289,3357,0,0,0,0,0,0
$GC,3759,-1.32,-146.0,395.2,-9.3,358,3763,0.00,2.80,0.00,0.000,4,0.000,0.000,2384,637,3354,0,0,0,0,0,0
$GC,3791,-1.32,-146.0,398.3,-9.5,360,3796,0.00,3.17,0.00,0.000,6,0.000,0.000,2383,2433,3350,0,0,1,0,0,0
$GC,4116,-1.32,-146.0,428.0,-9.2,391,4121,0.00,3.17,0.00,0.000,4,0.000,0.000,2384,717,3353,0,0,1,0,0,0
$GC,4160,-1.32,-146.0,432.2,-9.3,394,4165,0.00,2.95,0.00,0.000,6,0.000,0.000,2385,2329,3353,0,0,1,0,0,0
$STATE,4354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4355,begin apogee
$GC,4361,-0.31,0.0,450.1,8.9,413,4510,1.15,0.00,144.75,0.001,6,0.000,0.000,2619,2328,2754,0,0,0,0,0,0
$STATE,4513,end apogee,CONTROL_FINISHED_OK
$STATE,4513,begin climb
$GC,4516,1.32,146.0,452.5,0.0,428,4669,1.73,2.62,142.43,0.001,4,0.000,0.000,2973,3798,2152,0,0,2,0,0,0
$GC,4685,1.32,146.0,432.1,15.7,444,4691,0.47,2.95,0.00,0.000,6,0.000,0.000,2874,2138,2151,1,0,1,0,0,0
$GC,5010,1.32,146.0,397.4,10.6,475,5015,0.40,2.80,0.00,0.000,4,0.000,0.000,2957,3658,2154,0,0,0,0,0,0
$GC,5054,1.32,146.0,390.8,16.0,478,5060,0.40,2.88,0.00,0.000,6,0.000,0.000,2900,2185,2153,0,0,0,0,0,0
$GC,5379,1.32,146.0,351.4,11.9,509,5385,0.28,2.75,0.05,0.002,4,0.000,0.000,2967,3714,2147,0,0,1,0,0,0
$GC,5412,1.32,146.0,346.1,16.5,511,5418,0.40,2.72,0.00,0.000,6,0.000,0.000,2895,2191,2158,0,0,2,0,0,0
$GC,5737,1.32,146.0,307.7,11.7,542,5743,0.45,2.67,0.00,0.000,4,0.000,0.000,2993,3713,2153,0,0,1,0,0,0
$GC,5765,1.32,146.0,303.1,16.8,544,5771,0.43,2.75,0.00,0.000,6,0.000,0.000,2923,2223,2153,0,0,3,0,0,0
$GC,6093,1.32,146.0,259.4,13.4,574,6097,0.00,2.62,0.00,0.000,4,0.000,0.000,2925,3713,2154,0,0,0,0,0,0
$GC,6114,1.32,146.0,256.0,13.5,575,6119,0.00,2.62,0.00,0.000,6,0.000,0.000,2925,2240,2155,0,0,1,0,0,0
$GC,6438,1.32,146.0,213.0,13.5,606,6440,0.38,0.00,0.00,0.000,6,0.000,0.000,2982,2247,2155,0,0,0,0,0,0
$GC,6757,1.32,146.0,160.0,16.5,636,6762,0.38,2.60,0.00,0.000,4,0.000,0.000,2896,3713,2154,0,0,0,0,0,0
$GC,6796,1.32,146.0,155.2,11.3,639,6802,0.57,2.72,0.00,0.000,6,0.000,0.000,3014,2216,2156,1,0,1,0,0,0
$GC,7120,1.32,146.0,96.2,18.0,669,7125,0.35,2.67,0.00,0.000,4,0.000,0.000,2920,3701,2155,0,0,0,0,0,0
$GC,7148,1.32,146.0,92.2,13.1,671,7153,0.30,2.83,0.00,0.000,6,0.000,0.000,2963,2226,2151,0,0,1,0,0,0
$GC,7472,1.32,146.0,45.6,14.3,701,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2232,2153,0,0,0,0,0,0
$GC,7668,1.32,146.0,19.6,13.4,719,7673,0.00,2.58,0.00,0.000,4,0.000,0.000,2964,3668,2153,0,0,1,0,0,0
$GC,7702,1.32,146.0,14.6,12.9,725,7707,0.00,2.45,0.00,0.000,6,0.000,0.000,2966,2229,2159,0,0,2,0,0,0
$GC,7775,1.32,146.0,5.5,13.3,738,7779,0.25,0.00,0.00,0.000,6,0.000,0.000,2922,2223,2153,0,0,0,0,0,0
$STATE,7805,end climb,SURFACE_DEPTH_REACHED
$STATE,7805,begin surface coast
$FINISH,-0.0,1.026581
$STATE,7823,end surface coast,CONTROL_FINISHED_OK
$STATE,7823,begin surface
$SM_CCo,7847,67.80,0.001,0,0,1726,250.70
$SM_GC,-0.00,0.00,0.00,67.80,0.000,0.000,0.001,297,2223,1726,-10.81,-0.11,250.70
$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,1078999766
$INTERNAL_PRESSURE,16.0846
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.1,999.0
$24V_AH,24.1,90.474
$10V_AH,10.7,23.703
$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,35.125,101.800,287.225,67.800,0.000,0.000,0.000,80.917,9.750,0.000,11.519,1263.593,5351.649,505.061,712.967,295.933,0.000,1109.470,0.000,607.479,1080.000,55.833,0.000
$DEVICE_MAMPS,119.000,60.000,1.534,0.767,0.000,103.000,0.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,598.934,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129564
$DATA_FILE_SIZE,25322,747
$CAP_FILE_SIZE,99648,0
$CFSIZE,260165632,246075392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,7,31,0,0
$SOUNDSPEED,1470.0
$GPS,011009,003542,6634.436,-5915.972,19,1.1,19,18.0