version: 66.07
glider: 99
mission: 63
dive: 416
start: 10 22 109 17 31 29
data:
$ID,99
$MISSION,63
$DIVE,416
$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,-828019.44
$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,0
$R_STBD_OVSHOOT,50
$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
$GPS1,172704,6652.076,-5926.234,12,1.1,12,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,173107,6652.076,-5926.234,31,1.1,32,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$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,81.6,11987,-18.1,-10.000
$D_GRID,978
$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,-53.42,0.000,6,0.000,0.000,331,2132,3348,0,0,0,0,0,0
$GC,74,-1.32,-146.0,3.7,-17.7,11,90,10.45,2.67,0.00,0.000,4,0.000,0.000,2403,3620,3346,4,0,1,0,0,0
$GC,118,-1.32,-146.0,17.1,-10.9,19,124,0.43,2.78,0.00,0.000,6,0.000,0.000,2331,2128,3351,0,0,1,0,0,0
$GC,189,-1.32,-146.0,26.5,-13.8,28,191,0.43,0.00,0.00,0.000,6,0.000,0.000,2414,2138,3353,0,0,0,0,0,0
$GC,381,-1.32,-146.0,45.2,-9.5,46,384,0.77,0.00,0.00,0.000,6,0.000,0.000,2247,2130,3346,1,0,0,0,0,0
$GC,571,-1.32,-146.0,78.7,-17.5,64,577,0.60,2.95,0.00,0.000,4,0.000,0.000,2391,3794,3352,1,0,3,0,0,0
$GC,600,-1.32,-146.0,82.2,-11.1,66,604,0.00,2.95,0.00,0.000,6,0.000,0.000,2389,2123,3348,0,0,2,0,0,0
$GC,924,-1.32,-146.0,115.0,-9.9,96,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2122,3354,0,0,0,0,0,0
$GC,1243,-1.32,-146.0,146.4,-9.8,126,1248,0.20,2.72,0.00,0.000,4,0.000,0.000,2346,3661,3347,0,0,0,0,0,0
$GC,1286,-1.32,-146.0,151.6,-11.6,129,1292,0.30,2.67,0.00,0.000,6,0.000,0.000,2393,2153,3349,0,0,0,0,0,0
$GC,1612,-1.32,-146.0,182.6,-9.5,160,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2164,3353,0,0,0,0,0,0
$GC,1930,-1.32,-146.0,212.7,-9.4,190,1935,0.00,2.75,0.00,0.000,4,0.000,0.000,2384,3654,3351,0,0,1,0,0,0
$GC,1963,-1.32,-146.0,215.8,-9.6,192,1968,0.00,2.80,0.00,0.000,6,0.000,0.000,2388,2126,3346,0,0,1,0,0,0
$GC,2288,-1.32,-146.0,246.0,-9.3,223,2292,0.00,2.70,0.00,0.000,4,0.000,0.000,2386,3664,3351,0,0,0,0,0,0
$GC,2309,-1.32,-146.0,248.0,-9.2,224,2314,0.00,2.97,0.00,0.000,6,0.000,0.000,2390,1989,3348,0,0,2,0,0,0
$GC,2634,-1.32,-146.0,277.9,-9.2,255,2639,0.22,2.95,0.00,0.000,4,0.000,0.000,2341,3641,3348,0,0,2,0,0,0
$GC,2689,-1.32,-146.0,284.0,-11.3,259,2694,0.00,2.67,0.00,0.000,6,0.000,0.000,2337,2055,3349,0,0,0,0,0,0
$GC,3014,-1.32,-146.0,319.7,-10.9,290,3019,0.28,2.80,0.00,0.000,4,0.000,0.000,2390,3656,3353,0,0,1,0,0,0
$GC,3054,-1.32,-146.0,323.5,-9.2,293,3058,0.00,2.65,0.00,0.000,6,0.000,0.000,2388,2095,3351,0,0,1,0,0,0
$GC,3379,-1.32,-146.0,353.4,-9.3,323,3384,0.00,3.15,0.00,0.000,4,0.000,0.000,2386,3627,3353,0,0,3,0,0,0
$GC,3407,-1.32,-146.0,356.0,-9.1,325,3412,0.12,2.65,0.00,0.000,6,0.000,0.000,2367,2158,3344,0,0,0,0,0,0
$GC,3732,-1.32,-146.0,388.1,-10.0,355,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2154,3350,0,0,0,0,0,0
$GC,4050,-1.32,-146.0,419.7,-10.0,385,4056,0.00,2.55,0.00,0.000,4,0.000,0.000,2371,3645,3351,0,0,0,0,0,0
$GC,4085,-1.32,-146.0,423.1,-9.8,388,4090,0.00,2.65,0.00,0.000,6,0.000,0.000,2363,2227,3344,0,0,2,0,0,0
$STATE,4365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4365,begin apogee
$GC,4372,-0.31,0.0,451.0,9.8,414,4520,1.23,0.00,144.32,0.001,6,0.000,0.000,2613,2351,2745,0,0,0,0,0,0
$STATE,4524,end apogee,CONTROL_FINISHED_OK
$STATE,4524,begin climb
$GC,4527,1.32,146.0,453.4,0.0,429,4674,1.70,0.00,142.55,0.001,6,0.000,0.000,2996,2348,2155,0,0,0,0,0,0
$GC,4992,1.32,146.0,377.6,18.1,474,4997,0.38,2.72,0.00,0.000,4,0.000,0.000,2922,819,2149,0,0,0,0,0,0
$GC,5020,1.32,146.0,373.4,13.7,476,5025,0.00,3.10,0.00,0.000,6,0.000,0.000,2922,2489,2152,0,0,2,0,0,0
$GC,5344,1.32,146.0,329.8,13.3,506,5349,0.00,3.28,0.00,0.000,4,0.000,0.000,2928,829,2152,0,0,2,0,0,0
$GC,5376,1.32,146.0,325.3,13.6,508,5382,0.00,2.95,0.00,0.000,6,0.000,0.000,2926,2489,2149,0,0,3,0,0,0
$GC,5701,1.32,146.0,281.9,13.3,539,5705,0.00,2.92,0.00,0.000,4,0.000,0.000,2926,846,2158,0,0,0,0,0,0
$GC,5740,1.32,146.0,276.7,13.3,542,5745,0.00,2.83,0.00,0.000,6,0.000,0.000,2928,2537,2156,0,0,3,0,0,0
$GC,6064,1.32,146.0,233.3,13.4,572,6069,0.00,3.20,0.00,0.000,4,0.000,0.000,2930,713,2153,0,0,3,0,0,0
$GC,6108,1.32,146.0,227.4,13.2,575,6113,0.00,3.05,0.00,0.000,6,0.000,0.000,2925,2414,2156,0,0,1,0,0,0
$GC,6432,1.32,146.0,184.5,13.4,606,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2424,2150,0,0,0,0,0,0
$GC,6754,1.32,146.0,142.8,13.0,636,6758,0.00,3.05,0.00,0.000,4,0.000,0.000,2927,821,2150,0,0,2,0,0,0
$GC,6792,1.32,146.0,137.5,13.3,639,6798,0.15,3.05,0.00,0.000,6,0.000,0.000,2928,2416,2152,0,0,2,0,0,0
$GC,7116,1.32,146.0,96.1,12.5,669,7118,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2409,2151,0,0,0,0,0,0
$GC,7437,1.32,146.0,56.5,12.3,699,7442,0.00,3.03,0.00,0.000,4,0.000,0.000,2930,740,2152,0,0,1,0,0,0
$GC,7476,1.32,146.0,51.5,12.5,702,7481,0.00,2.92,0.00,0.000,6,0.000,0.000,2928,2365,2156,0,0,0,0,0,0
$GC,7803,1.32,146.0,13.1,11.5,737,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2357,2155,0,0,0,0,0,0
$GC,7876,1.32,146.0,5.0,11.3,750,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2359,2154,0,0,0,0,0,0
$STATE,7902,end climb,SURFACE_DEPTH_REACHED
$STATE,7902,begin surface coast
$FINISH,-0.0,1.026634
$STATE,7920,end surface coast,CONTROL_FINISHED_OK
$STATE,7920,begin surface
$SM_CCo,7945,66.82,0.001,0,0,1731,250.70
$SM_GC,-0.00,0.00,0.00,66.82,0.000,0.000,0.001,352,2132,1731,-10.65,-2.80,250.70
$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,1079035250
$INTERNAL_PRESSURE,16.0748
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.8,999.0
$24V_AH,24.1,146.234
$10V_AH,10.7,32.541
$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,30.250,87.100,286.875,66.825,0.000,0.000,0.000,83.320,9.750,0.000,34.116,1257.469,5468.271,498.056,734.985,303.456,0.000,1091.674,0.000,606.453,0.000,55.948,0.000
$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,607.071,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129516
$DATA_FILE_SIZE,25252,758
$CAP_FILE_SIZE,93190,0
$CFSIZE,260165632,236584960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,6,40,0,0
$SOUNDSPEED,1468.6
$GPS,221009,194616,6652.057,-5923.431,15,1.1,15,18.0