version: 66.07
glider: 99
mission: 63
dive: 326
start: 10 14 109 4 49 52
data:
$ID,99
$MISSION,63
$DIVE,326
$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,-825749.44
$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,1
$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
$GPS1,044533,6653.984,-5750.664,23,1.1,23,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-70.0
$GPS2,044931,6653.984,-5750.664,29,1.1,29,18.0
$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,256.6,23555,-18.1,-10.000
$D_GRID,814
$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,-53.47,0.000,6,0.000,0.000,277,2160,3352,0,0,0,0,0,0
$GC,74,-1.32,-146.0,3.9,-19.6,11,95,10.55,3.28,0.00,0.000,4,0.000,0.000,2411,3794,3355,0,0,3,0,0,0
$GC,128,-1.32,-146.0,17.8,-10.4,21,134,0.28,2.97,0.00,0.000,6,0.000,0.000,2356,2160,3355,0,0,3,0,0,0
$GC,204,-1.32,-146.0,27.2,-12.7,30,205,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2166,3351,0,0,0,0,0,0
$GC,396,-1.32,-146.0,50.7,-12.0,48,397,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2159,3354,0,0,0,0,0,0
$GC,716,-1.32,-146.0,87.4,-11.3,78,721,0.00,2.70,0.00,0.000,4,0.000,0.000,2367,3701,3353,0,0,0,0,0,0
$GC,744,-1.32,-146.0,90.7,-11.2,80,749,0.00,3.05,0.00,0.000,6,0.000,0.000,2356,2067,3352,0,0,2,0,0,0
$GC,1068,-1.32,-146.0,126.2,-10.9,110,1073,0.00,2.88,0.00,0.000,4,0.000,0.000,2363,3716,3357,0,0,0,0,0,0
$GC,1101,-1.32,-146.0,129.9,-10.7,112,1107,0.00,2.85,0.00,0.000,6,0.000,0.000,2368,2138,3355,0,0,1,0,0,0
$GC,1425,-1.32,-146.0,164.3,-10.7,143,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2132,3356,0,0,0,0,0,0
$GC,1744,-1.32,-146.0,197.7,-10.6,173,1748,0.00,2.72,0.00,0.000,4,0.000,0.000,2363,3678,3352,0,0,0,0,0,0
$GC,1782,-1.32,-146.0,201.8,-10.3,176,1787,0.00,2.72,0.00,0.000,6,0.000,0.000,2350,2135,3355,0,0,2,0,0,0
$GC,2107,-1.32,-146.0,235.3,-10.2,206,2111,0.00,2.70,0.00,0.000,4,0.000,0.000,2360,3693,3356,0,0,1,0,0,0
$GC,2127,-1.32,-146.0,237.6,-10.5,207,2133,0.00,2.80,0.00,0.000,6,0.000,0.000,2363,2145,3352,0,0,1,0,0,0
$GC,2453,-1.32,-146.0,270.9,-10.4,238,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2152,3354,0,0,0,0,0,0
$GC,2771,-1.32,-146.0,303.6,-10.3,268,2776,0.00,2.78,0.00,0.000,4,0.000,0.000,2360,3682,3353,0,0,0,0,0,0
$GC,2803,-1.32,-146.0,307.0,-10.4,270,2809,0.00,2.78,0.00,0.000,6,0.000,0.000,2364,2173,3359,0,0,0,0,0,0
$GC,3128,-1.32,-146.0,340.1,-10.3,301,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2178,3354,0,0,0,0,0,0
$GC,3446,-1.32,-146.0,372.6,-10.0,331,3451,0.00,2.72,0.00,0.000,4,0.000,0.000,2364,3740,3349,0,0,3,0,0,0
$GC,3474,-1.32,-146.0,375.4,-10.1,333,3479,0.00,2.92,0.00,0.000,6,0.000,0.000,2358,2116,3353,0,0,0,0,0,0
$GC,3798,-1.32,-146.0,408.4,-10.3,363,3803,0.00,3.47,0.00,0.000,4,0.000,0.000,2362,3610,3354,0,0,2,0,0,0
$GC,3819,-1.32,-146.0,410.7,-10.1,364,3825,0.00,2.85,0.00,0.000,6,0.000,0.000,2364,2130,3350,0,0,0,0,0,0
$GC,4144,-1.32,-146.0,443.5,-10.1,395,4149,0.00,2.80,0.00,0.000,4,0.000,0.000,2365,3663,3352,0,0,1,0,0,0
$GC,4165,-1.32,-146.0,445.7,-10.6,396,4170,0.00,2.95,0.00,0.000,6,0.000,0.000,2363,2023,3359,0,0,1,0,0,0
$STATE,4213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4213,begin apogee
$GC,4220,-0.31,0.0,450.5,10.2,401,4370,1.33,0.00,145.57,0.001,6,0.000,0.000,2615,2446,2747,0,0,0,0,0,0
$STATE,4373,end apogee,CONTROL_FINISHED_OK
$STATE,4374,begin climb
$GC,4376,1.32,146.0,453.1,0.0,416,4529,1.83,2.55,141.88,0.001,4,0.000,0.000,3010,3680,2155,1,0,2,0,0,0
$GC,4545,1.32,146.0,430.2,18.5,432,4551,0.43,2.65,0.00,0.000,6,0.000,0.000,2925,2218,2158,0,0,2,0,0,0
$GC,4870,1.32,146.0,386.4,13.6,463,4875,0.00,2.58,0.00,0.000,4,0.000,0.000,2923,3729,2151,0,0,1,0,0,0
$GC,4891,1.32,146.0,383.4,13.2,464,4897,0.00,2.60,0.00,0.000,6,0.000,0.000,2926,2261,2159,0,0,0,0,0,0
$GC,5216,1.32,146.0,339.9,13.4,495,5218,0.22,0.00,0.00,0.000,6,0.000,0.000,2977,2260,2151,0,0,0,0,0,0
$GC,5535,1.32,146.0,288.8,15.9,525,5539,0.00,2.53,0.00,0.000,4,0.000,0.000,2966,3610,2153,0,0,0,0,0,0
$GC,5567,1.32,146.0,283.5,16.4,527,5573,0.30,2.88,0.00,0.000,6,0.000,0.000,2927,2196,2154,0,0,1,0,0,0
$GC,5891,1.32,146.0,239.6,13.4,558,5896,0.00,3.25,0.00,0.000,4,0.000,0.000,2932,3788,2155,0,0,2,0,0,0
$GC,5919,1.32,146.0,235.9,13.3,560,5924,0.00,2.78,0.00,0.000,6,0.000,0.000,2921,2255,2153,0,0,1,0,0,0
$GC,6243,1.32,146.0,192.4,13.3,590,6244,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2268,2155,0,0,0,0,0,0
$GC,6564,1.32,146.0,149.9,13.4,620,6569,0.00,2.50,0.00,0.000,4,0.000,0.000,2926,3661,2151,0,0,1,0,0,0
$GC,6597,1.32,146.0,145.2,13.4,622,6602,0.00,2.53,0.00,0.000,6,0.000,0.000,2924,2257,2150,0,0,0,0,0,0
$GC,6922,1.32,146.0,102.9,12.9,653,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2254,2150,0,0,0,0,0,0
$GC,7243,1.32,146.0,62.4,12.4,683,7247,0.00,2.55,0.00,0.000,4,0.000,0.000,2927,3657,2158,0,0,0,0,0,0
$GC,7270,1.32,146.0,58.7,12.6,685,7275,0.00,2.90,0.00,0.000,6,0.000,0.000,2927,2232,2151,0,0,1,0,0,0
$GC,7595,1.32,146.0,20.4,11.4,715,7596,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2230,2158,0,0,0,0,0,0
$STATE,7759,end climb,SURFACE_DEPTH_REACHED
$STATE,7760,begin surface coast
$FINISH,-0.0,1.026616
$STATE,7777,end surface coast,CONTROL_FINISHED_OK
$STATE,7777,begin surface
$SM_CCo,7800,66.65,0.001,0,0,1733,250.21
$SM_GC,-0.00,0.00,0.00,66.65,0.000,0.000,0.001,331,2234,1733,-10.71,0.06,250.21
$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,0.03068
$HUMID,1078795474
$INTERNAL_PRESSURE,15.5865
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.2,999.0
$24V_AH,24.1,124.409
$10V_AH,10.7,29.080
$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,27.825,85.000,287.450,66.650,0.000,0.000,0.000,82.547,9.750,0.000,31.765,1241.472,5352.381,483.858,725.340,300.906,0.000,1075.062,0.000,599.838,360.000,53.619,0.000
$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,599.335,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129492
$DATA_FILE_SIZE,25311,747
$CAP_FILE_SIZE,90406,0
$CFSIZE,260165632,240308224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,31,0,0
$SOUNDSPEED,1471.1
$GPS,141009,070212,6653.682,-5753.342,19,1.1,19,18.0