version: 66.07
glider: 99
mission: 63
dive: 321
start: 10 13 109 17 14 10
data:
$ID,99
$MISSION,63
$DIVE,321
$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,-825595.06
$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
$GPS1,171005,6655.674,-5737.434,21,1.1,21,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-70.0
$GPS2,171348,6655.674,-5737.434,10,1.1,10,18.0
$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,249.8,33110,-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,-53.15,0.000,3,0.000,0.000,343,2156,3335,0,0,0,0,0,0
$GC,74,-1.32,-146.0,3.0,-14.6,11,90,10.18,3.10,0.00,0.000,4,0.000,0.000,2388,3705,3342,4,0,3,0,0,0
$GC,135,-1.32,-146.0,17.8,-11.1,22,140,0.00,2.72,0.00,0.000,6,0.000,0.000,2384,2132,3341,0,0,2,0,0,0
$GC,210,-1.32,-146.0,25.8,-10.7,31,211,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2130,3340,0,0,0,0,0,0
$GC,402,-1.32,-146.0,46.1,-10.4,49,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2131,3344,0,0,0,0,0,0
$GC,593,-1.32,-146.0,65.7,-9.9,67,598,0.22,2.83,0.00,0.000,4,0.000,0.000,2353,3684,3344,0,0,1,0,0,0
$GC,621,-1.32,-146.0,68.9,-12.3,69,626,0.00,2.80,0.00,0.000,6,0.000,0.000,2348,2111,3341,0,0,2,0,0,0
$GC,945,-1.32,-146.0,106.2,-11.1,99,950,0.03,2.85,0.00,0.000,4,0.000,0.000,2360,3706,3338,0,0,0,0,0,0
$GC,966,-1.32,-146.0,108.6,-11.4,100,972,0.00,2.67,0.00,0.000,6,0.000,0.000,2345,2141,3340,0,0,1,0,0,0
$GC,1291,-1.32,-146.0,144.4,-10.9,131,1296,0.00,2.78,0.00,0.000,4,0.000,0.000,2349,3714,3339,0,0,0,0,0,0
$GC,1312,-1.32,-146.0,146.8,-11.3,132,1317,0.00,2.80,0.00,0.000,6,0.000,0.000,2349,2120,3334,0,0,1,0,0,0
$GC,1637,-1.32,-146.0,181.7,-10.8,163,1641,0.00,2.83,0.00,0.000,4,0.000,0.000,2353,3680,3341,0,0,0,0,0,0
$GC,1657,-1.32,-146.0,184.1,-10.9,164,1663,0.00,2.72,0.00,0.000,6,0.000,0.000,2350,2152,3342,0,0,0,0,0,0
$GC,1982,-1.32,-146.0,218.5,-10.4,195,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2163,3340,0,0,0,0,0,0
$GC,2301,-1.32,-146.0,252.1,-10.6,225,2306,0.22,2.80,0.00,0.000,4,0.000,0.000,2395,3690,3346,0,0,0,0,0,0
$GC,2334,-1.32,-146.0,255.2,-9.2,227,2340,0.28,2.92,0.00,0.000,6,0.000,0.000,2354,2109,3344,0,0,1,0,0,0
$GC,2659,-1.32,-146.0,288.7,-10.3,258,2664,0.00,2.92,0.00,0.000,4,0.000,0.000,2353,3705,3343,0,0,0,0,0,0
$GC,2687,-1.32,-146.0,291.6,-10.5,260,2691,0.00,2.75,0.00,0.000,6,0.000,0.000,2349,2160,3340,0,0,2,0,0,0
$GC,3011,-1.32,-146.0,325.3,-10.3,290,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2159,3345,0,0,0,0,0,0
$GC,3331,-1.32,-146.0,358.3,-10.3,320,3335,0.00,2.83,0.00,0.000,4,0.000,0.000,2352,3764,3340,0,0,0,0,0,0
$GC,3360,-1.32,-146.0,361.3,-10.1,322,3364,0.00,2.88,0.00,0.000,6,0.000,0.000,2347,2157,3338,0,0,0,0,0,0
$GC,3684,-1.32,-146.0,394.9,-10.3,352,3685,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2147,3339,0,0,0,0,0,0
$GC,4003,-1.32,-146.0,427.7,-10.2,382,4008,0.00,2.72,0.00,0.000,4,0.000,0.000,2353,3643,3342,0,0,1,0,0,0
$GC,4031,-1.32,-146.0,430.6,-10.2,384,4037,0.08,2.95,0.00,0.000,6,0.000,0.000,2355,2153,3343,0,0,1,0,0,0
$STATE,4230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4230,begin apogee
$GC,4237,-0.31,0.0,450.8,10.3,402,4384,1.35,0.00,142.62,0.001,6,0.000,0.000,2618,2448,2741,0,0,0,0,0,0
$STATE,4386,end apogee,CONTROL_FINISHED_OK
$STATE,4387,begin climb
$GC,4389,1.32,146.0,453.2,0.0,417,4542,1.88,2.22,141.32,0.001,4,0.000,0.000,2983,3771,2152,0,0,2,0,0,0
$GC,4554,1.32,146.0,432.5,17.4,433,4559,0.40,2.78,0.00,0.000,6,0.000,0.000,2919,2224,2157,0,0,0,0,0,0
$GC,4878,1.32,146.0,389.4,13.2,463,4882,0.00,2.70,0.00,0.000,4,0.000,0.000,2920,3740,2156,0,0,1,0,0,0
$GC,4905,1.32,146.0,385.7,12.9,465,4910,0.00,2.78,0.00,0.000,6,0.000,0.000,2917,2198,2153,0,0,1,0,0,0
$GC,5229,1.32,146.0,343.0,13.2,495,5240,0.30,2.90,1.33,0.000,4,0.000,0.000,2971,3796,2153,0,0,0,0,0,0
$GC,5256,1.32,146.0,338.8,15.5,497,5262,0.30,2.85,0.00,0.000,6,0.000,0.000,2920,2202,2157,0,0,1,0,0,0
$GC,5581,1.32,146.0,295.8,13.1,528,5586,0.22,2.85,0.00,0.000,4,0.000,0.000,2962,3741,2151,0,0,1,0,0,0
$GC,5613,1.32,146.0,290.6,15.5,530,5619,0.00,2.88,0.00,0.000,6,0.000,0.000,2959,2226,2151,0,0,1,0,0,0
$GC,5939,1.32,146.0,240.0,15.5,561,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2224,2154,0,0,0,0,0,0
$GC,6259,1.32,146.0,190.4,15.5,591,6263,0.00,2.67,0.00,0.000,4,0.000,0.000,2961,3601,2156,0,0,2,0,0,0
$GC,6302,1.32,146.0,183.2,15.5,594,6307,0.00,2.67,0.00,0.000,6,0.000,0.000,2961,2245,2157,0,0,0,0,0,0
$GC,6627,1.32,146.0,133.4,15.3,625,6629,0.00,0.00,0.50,0.000,6,0.000,0.000,2963,2243,2153,0,0,0,0,0,0
$GC,6946,1.32,146.0,85.5,14.8,655,6950,0.00,2.58,0.00,0.000,4,0.000,0.000,2958,3685,2152,0,0,0,0,0,0
$GC,6985,1.32,146.0,79.7,15.3,658,6989,0.00,2.58,0.00,0.000,6,0.000,0.000,2964,2221,2151,0,0,0,0,0,0
$GC,7309,1.32,146.0,33.7,13.8,688,7318,0.00,2.80,1.62,0.000,4,0.000,0.000,2973,3761,2155,0,0,0,0,0,0
$GC,7335,1.32,146.0,30.1,13.7,690,7340,0.00,2.78,0.00,0.000,6,0.000,0.000,2967,2193,2157,0,0,1,0,0,0
$GC,7541,1.32,146.0,2.8,13.3,720,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2191,2155,0,0,0,0,0,0
$STATE,7549,end climb,SURFACE_DEPTH_REACHED
$STATE,7549,begin surface coast
$FINISH,-0.0,1.026775
$STATE,7562,end surface coast,CONTROL_FINISHED_OK
$STATE,7562,begin surface
$SM_CCo,7586,67.40,0.001,0,0,1724,251.19
$SM_GC,-0.01,0.00,0.00,67.40,0.000,0.000,0.001,341,2274,1724,-10.64,1.13,251.19
$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,1078745152
$INTERNAL_PRESSURE,15.6061
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.5,999.0
$24V_AH,24.1,123.173
$10V_AH,10.7,28.881
$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,28.575,89.525,287.400,67.400,0.000,0.000,0.000,85.420,9.750,0.000,12.827,1198.991,5199.424,492.322,690.022,303.106,0.000,1075.116,0.000,586.440,0.000,53.707,0.000
$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,581.743,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129580
$DATA_FILE_SIZE,22152,724
$CAP_FILE_SIZE,92236,0
$CFSIZE,260165632,240529408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,25,0,0
$SOUNDSPEED,1470.7
$GPS,131009,192315,6655.235,-5739.895,31,1.1,31,18.0