version: 66.07
glider: 99
mission: 63
dive: 322
start: 10 13 109 19 27 43
data:
$ID,99
$MISSION,63
$DIVE,322
$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,-825633.62
$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,44
$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
$GPS1,192315,6655.235,-5739.895,31,1.1,31,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,192722,6655.235,-5739.895,35,1.1,35,18.0
$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,251.2,31303,-18.1,-10.000
$D_GRID,809
$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,-53.70,0.000,6,0.000,0.000,336,2275,3351,0,0,0,0,0,0
$GC,74,-1.32,-146.0,3.3,-16.0,11,94,10.32,3.78,0.00,0.000,4,0.000,0.000,2389,624,3347,1,0,6,0,0,0
$GC,128,-1.32,-146.0,17.3,-10.8,21,133,0.00,3.05,0.00,0.000,6,0.000,0.000,2392,2395,3354,0,0,1,0,0,0
$GC,198,-1.32,-146.0,25.1,-11.0,30,200,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2385,3352,0,0,0,0,0,0
$GC,390,-1.32,-146.0,45.6,-10.6,48,395,0.22,3.00,0.00,0.000,4,0.000,0.000,2323,794,3348,0,0,1,0,0,0
$GC,419,-1.32,-146.0,49.4,-13.3,50,425,0.45,3.00,0.00,0.000,6,0.000,0.000,2398,2379,3351,0,0,2,0,0,0
$GC,616,-1.32,-146.0,69.5,-9.8,68,618,0.25,0.00,0.00,0.000,6,0.000,0.000,2351,2381,3351,0,0,0,0,0,0
$GC,934,-1.32,-146.0,105.8,-11.2,98,939,0.00,3.20,0.00,0.000,4,0.000,0.000,2351,785,3351,0,0,4,0,0,0
$GC,978,-1.32,-146.0,110.9,-11.0,101,983,0.00,3.10,0.00,0.000,6,0.000,0.000,2355,2247,3355,0,0,3,0,0,0
$GC,1302,-1.32,-146.0,146.6,-10.9,132,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2244,3351,0,0,0,0,0,0
$GC,1622,-1.32,-146.0,180.9,-10.7,162,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2245,3354,0,0,0,0,0,0
$GC,1940,-1.32,-146.0,214.9,-10.5,192,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2238,3348,0,0,0,0,0,0
$GC,2258,-1.32,-146.0,248.6,-10.5,222,2260,0.08,0.00,0.00,0.000,6,0.000,0.000,2371,2249,3346,0,0,0,0,0,0
$GC,2578,-1.32,-146.0,280.1,-9.9,252,2583,0.00,2.97,0.00,0.000,4,0.000,0.000,2374,595,3350,0,0,1,0,0,0
$GC,2600,-1.32,-146.0,282.4,-9.9,253,2605,0.00,3.05,0.00,0.000,6,0.000,0.000,2369,2293,3356,0,0,3,0,0,0
$GC,2925,-1.32,-146.0,314.2,-9.9,284,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2289,3349,0,0,0,0,0,0
$GC,3243,-1.32,-146.0,345.4,-9.7,314,3248,0.00,2.90,0.00,0.000,4,0.000,0.000,2368,699,3352,0,0,1,0,0,0
$GC,3271,-1.32,-146.0,348.1,-9.6,316,3276,0.00,2.85,0.00,0.000,6,0.000,0.000,2370,2340,3357,0,0,1,0,0,0
$GC,3596,-1.32,-146.0,379.9,-9.9,346,3602,0.00,2.65,0.00,0.000,4,0.000,0.000,2373,753,3352,0,0,1,0,0,0
$GC,3620,-1.32,-146.0,382.2,-9.6,348,3624,0.00,2.80,0.00,0.000,6,0.000,0.000,2377,2274,3348,0,0,2,0,0,0
$GC,3944,-1.32,-146.0,413.9,-9.7,378,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2268,3347,0,0,0,0,0,0
$GC,4263,-1.32,-146.0,444.9,-9.9,408,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2273,3349,0,0,0,0,0,0
$STATE,4313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4313,begin apogee
$GC,4320,-0.31,0.0,450.1,9.6,413,4468,1.12,0.00,143.65,0.001,6,0.000,0.000,2604,2267,2754,0,0,0,0,0,0
$STATE,4471,end apogee,CONTROL_FINISHED_OK
$STATE,4471,begin climb
$GC,4474,1.32,146.0,452.5,0.0,428,4627,1.80,2.47,142.52,0.001,4,0.000,0.000,2968,3652,2157,0,0,1,0,0,0
$GC,4650,1.32,146.0,431.3,16.1,445,4655,0.00,2.60,0.00,0.000,6,0.000,0.000,2968,2218,2161,0,0,0,0,0,0
$GC,4975,1.32,146.0,378.7,16.1,475,4981,0.28,2.50,0.10,0.000,4,0.000,0.000,2926,3612,2161,0,0,0,0,0,0
$GC,5003,1.32,146.0,374.5,13.5,477,5008,0.00,2.85,0.00,0.000,6,0.000,0.000,2929,2165,2156,0,0,1,0,0,0
$GC,5328,1.32,146.0,330.5,13.5,507,5332,0.00,2.55,0.00,0.000,4,0.000,0.000,2930,3596,2156,0,0,0,0,0,0
$GC,5367,1.32,146.0,325.2,13.3,510,5371,0.00,2.45,0.00,0.000,6,0.000,0.000,2924,2213,2152,0,0,1,0,0,0
$GC,5691,1.32,146.0,281.2,13.3,540,5695,0.00,2.53,0.00,0.000,4,0.000,0.000,2928,3681,2155,0,0,2,0,0,0
$GC,5719,1.32,146.0,277.5,13.3,542,5724,0.08,2.58,0.00,0.000,6,0.000,0.000,2928,2232,2150,0,0,1,0,0,0
$GC,6043,1.32,146.0,233.6,13.4,572,6047,0.00,2.40,0.00,0.000,4,0.000,0.000,2924,3592,2158,0,0,0,0,0,0
$GC,6064,1.32,146.0,230.7,13.4,573,6069,0.00,2.42,0.00,0.000,6,0.000,0.000,2924,2272,2156,0,0,1,0,0,0
$GC,6389,1.32,146.0,187.2,13.5,604,6390,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2266,2155,0,0,0,0,0,0
$GC,6709,1.32,146.0,144.6,13.4,634,6714,0.00,2.78,0.00,0.000,4,0.000,0.000,2929,3798,2150,0,0,1,0,0,0
$GC,6737,1.32,146.0,140.7,13.5,636,6741,0.00,2.85,0.00,0.000,6,0.000,0.000,2928,2210,2151,0,0,1,0,0,0
$GC,7061,1.32,146.0,98.2,13.2,666,7065,0.00,2.50,0.00,0.000,4,0.000,0.000,2930,3624,2160,0,0,2,0,0,0
$GC,7088,1.32,146.0,94.7,13.2,668,7092,0.00,2.47,0.00,0.000,6,0.000,0.000,2934,2196,2154,0,0,0,0,0,0
$GC,7412,1.32,146.0,53.8,12.3,698,7417,0.00,2.70,0.00,0.000,4,0.000,0.000,2931,3701,2157,0,0,0,0,0,0
$GC,7445,1.32,146.0,49.7,12.1,700,7450,0.00,2.70,0.00,0.000,6,0.000,0.000,2932,2088,2151,0,0,1,0,0,0
$GC,7773,1.32,146.0,11.3,11.9,737,7779,0.10,2.70,0.00,0.000,4,0.000,0.000,2921,3620,2153,0,0,1,0,0,0
$GC,7830,1.32,146.0,4.6,11.5,747,7835,0.00,2.55,0.00,0.000,6,0.000,0.000,2925,2211,2160,0,0,1,0,0,0
$STATE,7855,end climb,SURFACE_DEPTH_REACHED
$STATE,7855,begin surface coast
$FINISH,-0.0,1.026750
$STATE,7873,end surface coast,CONTROL_FINISHED_OK
$STATE,7873,begin surface
$SM_CCo,7897,66.90,0.001,0,0,1733,250.45
$SM_GC,-0.00,0.00,0.00,66.90,0.000,0.000,0.001,328,2209,1733,-10.70,-0.40,250.45
$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,1078720635
$INTERNAL_PRESSURE,15.567
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.3,999.0
$24V_AH,24.1,123.410
$10V_AH,10.7,28.921
$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,27.825,82.950,286.275,66.900,0.000,0.000,0.000,82.603,9.750,0.000,37.957,1278.122,5416.871,472.243,746.122,304.309,0.000,1079.113,0.000,606.187,2160.000,53.598,0.000
$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,607.994,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129528
$DATA_FILE_SIZE,25269,755
$CAP_FILE_SIZE,94492,0
$CFSIZE,260165632,240480256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,40,0,0
$SOUNDSPEED,1470.8
$GPS,131009,214159,6654.750,-5742.417,31,1.1,31,18.0