version: 66.07
glider: 99
mission: 63
dive: 361
start: 10 17 109 12 16 36
data:
$ID,99
$MISSION,63
$DIVE,361
$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,-826626.75
$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,66
$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
$GPS1,121228,6644.954,-5922.652,33,1.1,34,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,121615,6644.954,-5922.652,16,1.1,16,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_ADD1_WB
$TGT_LATLONG,6647.000,-5956.000
$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,260.8,24639,-18.1,-10.000
$D_GRID,914
$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,13,begin dive
$GC,16,-1.32,-146.0,0.0,0.0,0,74,0.00,0.00,-53.60,0.000,6,0.000,0.000,332,2034,3350,0,0,0,0,0,0
$GC,77,-1.32,-146.0,5.0,-25.5,11,94,10.50,3.03,0.00,0.000,4,0.000,0.000,2455,3684,3352,0,0,1,0,0,0
$GC,151,-1.32,-146.0,19.9,-7.9,24,156,0.93,2.55,0.00,0.000,6,0.000,0.000,2364,2239,3346,1,0,1,0,0,0
$GC,220,-1.32,-146.0,31.2,-17.8,31,222,0.80,0.00,0.00,0.000,6,0.000,0.000,2424,2238,3347,0,0,0,0,0,0
$GC,412,-1.32,-146.0,49.2,-8.9,49,417,0.40,2.65,0.00,0.000,4,0.000,0.000,2353,714,3353,0,0,1,0,0,0
$GC,433,-1.32,-146.0,51.9,-11.6,50,439,0.40,2.92,0.00,0.000,6,0.000,0.000,2392,2285,3346,0,0,1,0,0,0
$GC,758,-1.32,-146.0,85.5,-10.1,81,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2284,3346,0,0,0,0,0,0
$GC,1077,-1.32,-146.0,117.4,-10.0,111,1083,0.20,3.35,0.00,0.000,4,0.000,0.000,2348,650,3349,0,0,3,0,0,0
$GC,1102,-1.32,-146.0,120.2,-11.5,112,1107,0.43,3.15,0.00,0.000,6,0.000,0.000,2388,2351,3349,0,0,2,0,0,0
$GC,1438,-1.32,-146.0,152.7,-9.6,144,1442,0.00,2.80,0.00,0.000,4,0.000,0.000,2385,784,3347,0,0,0,0,0,0
$GC,1465,-1.32,-146.0,155.9,-9.7,146,1471,0.30,2.78,0.00,0.000,6,0.000,0.000,2315,2349,3343,0,0,2,0,0,0
$GC,1790,-1.32,-146.0,196.7,-12.7,176,1796,0.52,2.85,0.00,0.000,4,0.000,0.000,2392,763,3350,0,0,0,0,0,0
$GC,1819,-1.32,-146.0,199.6,-9.7,178,1825,0.30,2.65,0.00,0.000,6,0.000,0.000,2354,2306,3347,0,0,0,0,0,0
$GC,2149,-1.32,-146.0,235.9,-10.9,209,2151,0.28,0.00,0.00,0.000,6,0.000,0.000,2390,2307,3349,0,0,0,0,0,0
$GC,2468,-1.32,-146.0,264.8,-9.0,239,2474,0.43,2.70,0.00,0.000,4,0.000,0.000,2324,766,3351,0,0,1,0,0,0
$GC,2508,-1.32,-146.0,269.2,-11.8,242,2513,0.38,2.75,0.00,0.000,6,0.000,0.000,2395,2382,3348,0,0,1,0,0,0
$GC,2833,-1.32,-146.0,298.4,-8.8,272,2837,0.00,3.03,0.00,0.000,4,0.000,0.000,2391,812,3347,0,0,2,0,0,0
$GC,2865,-1.32,-146.0,301.4,-8.7,274,2871,0.22,2.70,0.00,0.000,6,0.000,0.000,2297,2348,3347,0,0,0,0,0,0
$GC,3190,-1.32,-146.0,342.0,-12.6,305,3196,0.62,2.70,0.00,0.000,4,0.000,0.000,2441,794,3344,1,0,1,0,0,0
$GC,3219,-1.32,-146.0,344.6,-8.0,307,3225,0.75,2.65,0.00,0.000,6,0.000,0.000,2285,2296,3344,0,0,2,0,0,0
$GC,3543,-1.32,-146.0,388.5,-13.7,337,3546,0.57,0.00,0.00,0.000,6,0.000,0.000,2391,2288,3346,1,0,0,0,0,0
$GC,3862,-1.32,-146.0,417.5,-8.9,367,3868,0.22,2.75,0.00,0.000,4,0.000,0.000,2343,785,3344,0,0,1,0,0,0
$GC,3895,-1.32,-146.0,421.0,-10.6,369,3901,0.28,2.70,0.00,0.000,6,0.000,0.000,2382,2286,3347,0,0,1,0,0,0
$STATE,4218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4218,begin apogee
$GC,4225,-0.31,0.0,450.3,9.0,400,4373,1.10,0.00,143.90,0.001,6,0.000,0.000,2607,2388,2755,0,0,0,0,0,0
$STATE,4376,end apogee,CONTROL_FINISHED_OK
$STATE,4376,begin climb
$GC,4379,1.32,146.0,452.7,0.0,415,4532,2.12,2.53,141.62,0.001,4,0.000,0.000,3033,3708,2155,0,0,2,0,0,0
$GC,4548,1.32,146.0,427.7,20.4,431,4554,0.62,2.55,0.00,0.000,6,0.000,0.000,2919,2287,2156,1,0,2,0,0,0
$GC,4874,1.32,146.0,384.6,13.3,462,4876,0.35,0.00,0.00,0.000,6,0.000,0.000,2989,2289,2154,0,0,0,0,0,0
$GC,5190,1.32,146.0,330.7,17.1,492,5193,0.38,0.00,0.00,0.000,6,0.000,0.000,2918,2285,2153,0,0,0,0,0,0
$GC,5509,1.32,146.0,289.5,12.8,522,5514,0.32,2.53,0.00,0.000,4,0.000,0.000,2959,3724,2155,0,0,1,0,0,0
$GC,5537,1.32,146.0,285.5,14.9,524,5542,0.00,2.70,0.00,0.000,6,0.000,0.000,2953,2277,2150,0,0,1,0,0,0
$GC,5861,1.32,146.0,235.6,15.2,554,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2269,2159,0,0,0,0,0,0
$GC,6182,1.32,146.0,187.0,15.2,584,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2276,2160,0,0,0,0,0,0
$GC,6501,1.32,146.0,139.0,15.0,614,6505,0.00,2.47,0.00,0.000,4,0.000,0.000,2958,3683,2151,0,0,1,0,0,0
$GC,6533,1.32,146.0,133.7,14.7,616,6538,0.00,2.60,0.00,0.000,6,0.000,0.000,2957,2276,2159,0,0,2,0,0,0
$GC,6858,1.32,146.0,86.4,14.5,647,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2281,2155,0,0,0,0,0,0
$GC,7178,1.32,146.0,41.4,13.7,677,7183,0.22,2.47,0.00,0.000,4,0.000,0.000,2917,3660,2160,0,0,1,0,0,0
$GC,7200,1.32,146.0,38.5,12.6,678,7206,0.30,2.40,0.00,0.000,6,0.000,0.000,2962,2281,2156,0,0,1,0,0,0
$GC,7402,1.32,146.0,12.3,12.5,702,7406,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2288,2151,0,0,0,0,0,0
$GC,7475,1.32,146.0,2.9,13.2,715,7479,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2291,2156,0,0,0,0,0,0
$STATE,7483,end climb,SURFACE_DEPTH_REACHED
$STATE,7483,begin surface coast
$FINISH,-0.0,1.026600
$STATE,7501,end surface coast,CONTROL_FINISHED_OK
$STATE,7501,begin surface
$SM_CCo,7525,67.35,0.001,0,0,1724,250.21
$SM_GC,-0.00,0.00,0.00,67.35,0.000,0.000,0.001,335,2280,1724,-10.70,1.27,250.21
$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,0.032214
$HUMID,1079044928
$INTERNAL_PRESSURE,15.8502
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.5,999.0
$24V_AH,24.1,132.883
$10V_AH,10.7,30.424
$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,37.050,71.125,285.525,67.350,0.000,0.000,0.000,82.814,9.750,0.000,18.904,1236.903,5128.946,476.518,688.555,295.913,0.000,1052.100,0.000,575.857,1440.000,55.803,0.000
$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,575.782,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129584
$DATA_FILE_SIZE,22149,720
$CAP_FILE_SIZE,92660,0
$CFSIZE,260165632,238854144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,31,0,0
$SOUNDSPEED,1468.3
$GPS,171009,142432,6644.657,-5925.224,22,1.1,23,18.0