version: 66.07
glider: 99
mission: 63
dive: 317
start: 10 13 109 7 44 29
data:
$ID,99
$MISSION,63
$DIVE,317
$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,-3
$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,-825503.06
$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,1
$R_STBD_OVSHOOT,3
$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
$GPS1,074016,6657.459,-5726.988,29,1.1,29,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-70.0
$GPS2,074408,6657.459,-5726.988,22,1.1,22,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_ADD3_WB
$TGT_LATLONG,6655.000,-5823.000
$TGT_RADIUS,10000.000
$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,245.6,40925,-18.1,-10.000
$D_GRID,784
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.32,-146.0,0.0,0.0,0,72,0.00,0.00,-53.35,0.000,6,0.000,0.000,313,2144,3342,0,0,0,0,0,0
$GC,75,-1.32,-146.0,2.8,-13.2,11,91,10.23,2.72,0.00,0.000,4,0.000,0.000,2402,3724,3341,1,0,2,0,0,0
$GC,136,-1.32,-146.0,17.1,-10.3,22,142,0.22,3.03,0.00,0.000,6,0.000,0.000,2349,2100,3338,0,0,2,0,0,0
$GC,207,-1.32,-146.0,25.8,-12.6,31,208,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2106,3343,0,0,0,0,0,0
$GC,398,-1.32,-146.0,49.7,-12.3,49,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2099,3345,0,0,0,0,0,0
$GC,591,-1.32,-146.0,72.7,-12.0,67,596,0.00,3.25,0.00,0.000,4,0.000,0.000,2353,3790,3343,0,0,1,0,0,0
$GC,623,-1.32,-146.0,76.8,-11.5,69,629,0.15,3.00,0.00,0.000,6,0.000,0.000,2347,2130,3344,0,0,1,0,0,0
$GC,948,-1.32,-146.0,113.6,-11.1,100,952,0.00,2.80,0.00,0.000,4,0.000,0.000,2347,3667,3341,0,0,0,0,0,0
$GC,969,-1.32,-146.0,116.0,-11.5,101,974,0.00,3.38,0.00,0.000,6,0.000,0.000,2355,1898,3345,0,0,3,0,0,0
$GC,1293,-1.32,-146.0,151.6,-11.0,132,1299,0.25,3.30,0.00,0.000,4,0.000,0.000,2408,3761,3345,0,0,2,0,0,0
$GC,1367,-1.32,-146.0,158.1,-8.5,138,1373,0.43,2.97,0.00,0.000,6,0.000,0.000,2339,2096,3345,0,0,0,0,0,0
$GC,1691,-1.32,-146.0,193.8,-11.0,168,1697,0.47,2.88,0.00,0.000,4,0.000,0.000,2419,3709,3336,1,0,2,0,0,0
$GC,1713,-1.32,-146.0,195.9,-9.1,169,1719,0.43,2.90,0.00,0.000,6,0.000,0.000,2354,2113,3342,0,0,1,0,0,0
$GC,2038,-1.32,-146.0,229.5,-10.5,200,2042,0.00,2.72,0.00,0.000,4,0.000,0.000,2353,3687,3342,0,0,1,0,0,0
$GC,2065,-1.32,-146.0,232.4,-10.1,202,2070,0.00,2.67,0.00,0.000,6,0.000,0.000,2346,2169,3344,0,0,0,0,0,0
$GC,2390,-1.32,-146.0,266.2,-10.4,232,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2166,3341,0,0,0,0,0,0
$GC,2708,-1.32,-146.0,299.3,-10.3,262,2713,0.00,2.75,0.00,0.000,4,0.000,0.000,2350,3695,3342,0,0,2,0,0,0
$GC,2735,-1.32,-146.0,302.1,-10.4,264,2741,0.03,2.85,0.00,0.000,6,0.000,0.000,2352,2051,3340,0,0,1,0,0,0
$GC,3060,-1.32,-146.0,335.7,-10.4,294,3065,0.00,2.88,0.00,0.000,4,0.000,0.000,2358,3699,3346,0,0,0,0,0,0
$GC,3099,-1.32,-146.0,339.8,-10.2,297,3105,0.08,3.12,0.00,0.000,6,0.000,0.000,2348,2127,3338,0,0,2,0,0,0
$GC,3423,-1.32,-146.0,373.3,-10.2,327,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2125,3342,0,0,0,0,0,0
$GC,3742,-1.32,-146.0,406.1,-10.2,357,3747,0.00,2.88,0.00,0.000,4,0.000,0.000,2348,3730,3347,0,0,2,0,0,0
$GC,3781,-1.32,-146.0,410.1,-10.4,360,3786,0.00,2.97,0.00,0.000,6,0.000,0.000,2344,2090,3344,0,0,1,0,0,0
$GC,4106,-1.32,-146.0,443.5,-10.4,390,4110,0.00,2.80,0.00,0.000,4,0.000,0.000,2354,3677,3337,0,0,0,0,0,0
$GC,4133,-1.32,-146.0,446.3,-10.5,392,4138,0.00,2.70,0.00,0.000,6,0.000,0.000,2353,2110,3346,0,0,1,0,0,0
$STATE,4168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4168,begin apogee
$GC,4176,-0.31,0.0,450.2,10.4,395,4323,1.30,0.00,142.65,0.001,6,0.000,0.000,2620,2437,2748,0,0,0,0,0,0
$STATE,4326,end apogee,CONTROL_FINISHED_OK
$STATE,4326,begin climb
$GC,4329,1.32,146.0,452.4,0.0,410,4482,1.90,2.22,143.32,0.001,4,0.000,0.000,3005,3735,2152,0,0,1,0,0,0
$GC,4498,1.32,146.0,428.6,19.3,426,4504,0.68,2.65,0.00,0.000,6,0.000,0.000,2886,2232,2146,1,0,1,0,0,0
$GC,4823,1.32,146.0,391.1,11.4,457,4828,0.43,2.75,0.00,0.000,4,0.000,0.000,2969,3645,2156,0,0,0,0,0,0
$GC,4844,1.32,146.0,387.9,14.0,458,4850,0.32,2.72,0.00,0.000,6,0.000,0.000,2932,2270,2152,0,0,0,0,0,0
$GC,5170,1.32,146.0,343.0,13.7,489,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2274,2142,0,0,0,0,0,0
$GC,5490,1.32,146.0,299.0,13.7,519,5494,0.00,2.67,0.00,0.000,4,0.000,0.000,2926,3730,2145,0,0,0,0,0,0
$GC,5518,1.32,146.0,294.9,14.0,521,5522,0.00,2.75,0.00,0.000,6,0.000,0.000,2933,2259,2154,0,0,2,0,0,0
$GC,5842,1.32,146.0,250.2,13.7,551,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2255,2149,0,0,0,0,0,0
$GC,6164,1.32,146.0,206.6,13.7,581,6168,0.00,2.67,0.00,0.000,4,0.000,0.000,2923,3716,2149,0,0,0,0,0,0
$GC,6196,1.32,146.0,201.5,13.4,583,6202,0.00,2.62,0.00,0.000,6,0.000,0.000,2927,2219,2156,0,0,1,0,0,0
$GC,6521,1.32,146.0,157.4,13.8,614,6525,0.00,2.65,0.00,0.000,4,0.000,0.000,2939,3695,2147,0,0,0,0,0,0
$GC,6542,1.32,146.0,154.5,13.6,615,6547,0.00,2.62,0.00,0.000,6,0.000,0.000,2929,2236,2149,0,0,0,0,0,0
$GC,6866,1.32,146.0,111.0,13.3,646,6871,0.00,2.58,0.00,0.000,4,0.000,0.000,2935,3673,2149,0,0,1,0,0,0
$GC,6894,1.32,146.0,107.3,13.4,648,6899,0.00,2.60,0.00,0.000,6,0.000,0.000,2930,2213,2146,0,0,0,0,0,0
$GC,7218,1.32,146.0,65.1,12.9,678,7223,0.00,2.65,0.00,0.000,4,0.000,0.000,2926,3682,2150,0,0,0,0,0,0
$GC,7246,1.32,146.0,61.6,12.6,680,7251,0.00,2.67,0.00,0.000,6,0.000,0.000,2926,2252,2150,0,0,1,0,0,0
$GC,7571,1.32,146.0,21.6,12.2,710,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2243,2152,0,0,0,0,0,0
$STATE,7735,end climb,SURFACE_DEPTH_REACHED
$STATE,7735,begin surface coast
$FINISH,-0.0,1.026860
$STATE,7753,end surface coast,CONTROL_FINISHED_OK
$STATE,7753,begin surface
$SM_CCo,7777,66.60,0.001,0,0,1726,250.45
$SM_GC,-0.00,0.00,0.00,66.60,0.000,0.000,0.001,326,2160,1726,-10.75,-1.89,250.45
$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,1078798055
$INTERNAL_PRESSURE,15.694
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,426.0,999.0
$24V_AH,24.1,122.160
$10V_AH,10.7,28.721
$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,29.925,96.325,285.975,66.600,0.000,0.000,0.000,82.722,9.750,0.000,24.892,1279.035,5276.378,482.143,727.091,309.928,0.000,1085.874,0.000,604.878,2160.000,58.192,0.000
$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,600.208,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129548
$DATA_FILE_SIZE,22142,741
$CAP_FILE_SIZE,96104,0
$CFSIZE,260165632,240701440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,33,0,0
$SOUNDSPEED,1470.4
$GPS,131009,095639,6656.989,-5729.476,34,1.1,34,18.0