version: 66.07
glider: 99
mission: 63
dive: 226
start: 10 4 109 15 41 40
data:
$ID,99
$MISSION,63
$DIVE,226
$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,-823181
$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,49
$R_STBD_OVSHOOT,5
$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
$GPS1,153735,6643.163,-6023.059,15,1.1,15,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-70.0
$GPS2,154120,6643.163,-6023.059,22,1.1,22,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_ADD1_EB
$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,52.2,20995,-18.1,-10.000
$D_GRID,528
$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,-146.0,0.0,0.0,0,72,0.00,0.00,-53.78,0.000,6,0.000,0.000,337,2233,3350,0,0,0,0,0,0
$GC,76,-1.32,-146.0,1.8,-7.4,11,90,10.12,0.00,0.00,0.000,6,0.000,0.000,2396,2233,3348,0,0,0,0,0,0
$GC,158,-1.32,-146.0,17.2,-9.7,26,163,0.00,2.47,0.00,0.000,4,0.000,0.000,2394,787,3348,0,0,1,0,0,0
$GC,181,-1.32,-146.0,19.3,-9.9,30,186,0.00,3.17,0.00,0.000,6,0.000,0.000,2387,2562,3348,0,0,3,0,0,0
$GC,256,-1.32,-146.0,26.7,-9.8,38,257,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2557,3347,0,0,0,0,0,0
$GC,447,-1.32,-146.0,45.5,-9.8,56,452,0.00,3.12,0.00,0.000,4,0.000,0.000,2398,789,3353,0,0,1,0,0,0
$GC,508,-1.32,-146.0,51.6,-10.1,61,513,0.00,2.67,0.00,0.000,6,0.000,0.000,2392,2388,3349,0,0,1,0,0,0
$GC,833,-1.32,-146.0,83.4,-9.8,91,838,0.00,2.88,0.00,0.000,4,0.000,0.000,2391,745,3350,0,0,1,0,0,0
$GC,872,-1.32,-146.0,87.3,-10.1,94,877,0.00,3.30,0.00,0.000,6,0.000,0.000,2385,2384,3351,0,0,2,0,0,0
$GC,1197,-1.32,-146.0,119.1,-9.6,124,1201,0.00,3.00,0.00,0.000,4,0.000,0.000,2395,760,3352,0,0,0,0,0,0
$GC,1229,-1.32,-146.0,122.4,-9.8,126,1234,0.00,2.83,0.00,0.000,6,0.000,0.000,2393,2342,3350,0,0,0,0,0,0
$GC,1554,-1.32,-146.0,154.2,-10.0,157,1558,0.00,2.78,0.00,0.000,4,0.000,0.000,2397,809,3351,0,0,0,0,0,0
$GC,1581,-1.32,-146.0,157.0,-10.0,159,1587,0.30,2.65,0.00,0.000,6,0.000,0.000,2343,2291,3345,0,0,1,0,0,0
$GC,1906,-1.32,-146.0,195.3,-11.9,189,1908,0.30,0.00,0.00,0.000,6,0.000,0.000,2408,2296,3345,0,0,0,0,0,0
$GC,2225,-1.32,-146.0,225.1,-9.2,219,2230,0.35,2.72,0.00,0.000,4,0.000,0.000,2349,790,3349,0,0,1,0,0,0
$GC,2257,-1.32,-146.0,229.0,-12.2,221,2264,0.52,2.92,0.00,0.000,6,0.000,0.000,2443,2435,3350,1,0,2,0,0,0
$GC,2583,-1.32,-146.0,254.0,-7.5,252,2588,0.47,2.90,0.00,0.000,4,0.000,0.000,2353,758,3349,1,0,0,0,0,0
$GC,2627,-1.32,-146.0,259.0,-11.3,255,2632,0.00,2.88,0.00,0.000,6,0.000,0.000,2352,2405,3347,0,0,2,0,0,0
$GC,2952,-1.32,-146.0,296.4,-11.7,286,2956,0.00,3.00,0.00,0.000,4,0.000,0.000,2359,798,3351,0,0,1,0,0,0
$GC,2995,-1.32,-146.0,301.5,-11.4,289,3000,0.00,2.88,0.00,0.000,6,0.000,0.000,2354,2353,3352,0,0,1,0,0,0
$GC,3320,-1.32,-146.0,339.0,-11.7,320,3325,0.00,3.58,0.00,0.000,4,0.000,0.000,2355,793,3348,0,0,6,0,0,0
$GC,3352,-1.32,-146.0,342.9,-11.6,322,3358,0.00,2.70,0.00,0.000,6,0.000,0.000,2349,2333,3356,0,0,0,0,0,0
$GC,3679,-1.32,-146.0,380.2,-11.4,353,3684,0.00,2.97,0.00,0.000,4,0.000,0.000,2348,797,3352,0,0,2,0,0,0
$GC,3707,-1.32,-146.0,383.7,-11.7,355,3711,0.00,2.95,0.00,0.000,6,0.000,0.000,2351,2457,3350,0,0,1,0,0,0
$GC,4031,-1.32,-146.0,421.1,-11.4,385,4036,0.00,3.00,0.00,0.000,4,0.000,0.000,2356,769,3349,0,0,0,0,0,0
$GC,4081,-1.32,-146.0,426.9,-11.9,389,4086,0.00,2.75,0.00,0.000,6,0.000,0.000,2355,2290,3350,0,0,1,0,0,0
$STATE,4289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4289,begin apogee
$GC,4296,-0.31,0.0,450.9,11.6,408,4445,1.42,0.00,144.25,0.001,6,0.000,0.000,2620,2410,2748,0,0,0,0,0,0
$STATE,4447,end apogee,CONTROL_FINISHED_OK
$STATE,4447,begin climb
$GC,4450,1.32,146.0,454.8,0.0,423,4602,1.90,0.00,142.77,0.001,6,0.000,0.000,3002,2426,2154,1,0,0,0,0,0
$GC,4921,1.32,146.0,382.4,17.2,468,4924,0.50,0.00,0.00,0.000,6,0.000,0.000,2911,2415,2152,0,0,0,0,0,0
$GC,5240,1.32,146.0,344.1,12.0,498,5246,0.45,2.75,0.00,0.000,4,0.000,0.000,2980,859,2150,0,0,0,0,0,0
$GC,5280,1.32,146.0,338.0,16.1,501,5285,0.43,2.80,0.00,0.000,6,0.000,0.000,2913,2547,2156,0,0,1,0,0,0
$GC,5604,1.32,146.0,298.5,11.9,531,5609,0.30,2.95,0.00,0.000,4,0.000,0.000,2974,887,2154,0,0,0,0,0,0
$GC,5655,1.32,146.0,290.9,15.6,535,5660,0.40,2.83,0.00,0.000,6,0.000,0.000,2913,2422,2152,0,0,0,0,0,0
$GC,5979,1.32,146.0,251.9,11.8,565,5981,0.38,0.00,0.00,0.000,6,0.000,0.000,2982,2419,2155,0,0,0,0,0,0
$GC,6298,1.32,146.0,202.1,15.9,595,6303,0.47,2.85,0.00,0.000,4,0.000,0.000,2883,742,2155,1,0,0,0,0,0
$GC,6337,1.32,146.0,197.7,10.4,598,6344,0.57,3.17,0.00,0.000,6,0.000,0.000,2973,2518,2156,0,0,2,0,0,0
$GC,6662,1.32,146.0,148.6,15.3,628,6667,0.32,2.88,0.00,0.000,4,0.000,0.000,2907,880,2155,0,0,1,0,0,0
$GC,6705,1.32,146.0,143.0,11.7,631,6712,0.43,2.78,0.00,0.000,6,0.000,0.000,2979,2409,2156,0,0,1,0,0,0
$GC,7030,1.32,146.0,92.9,15.8,662,7033,0.52,0.00,0.00,0.000,6,0.000,0.000,2878,2409,2150,1,0,0,0,0,0
$GC,7349,1.32,146.0,60.4,10.0,692,7355,0.47,2.83,0.00,0.000,4,0.000,0.000,2960,859,2156,1,0,1,0,0,0
$GC,7382,1.32,146.0,55.8,14.6,694,7387,0.00,2.83,0.00,0.000,6,0.000,0.000,2961,2428,2149,0,0,0,0,0,0
$GC,7710,1.32,146.0,7.1,15.2,732,7715,0.00,2.80,0.00,0.000,4,0.000,0.000,2964,857,2152,0,0,0,0,0,0
$GC,7739,1.32,146.0,3.0,14.8,737,7744,0.28,3.17,0.00,0.000,6,0.000,0.000,2922,2533,2159,0,0,2,0,0,0
$STATE,7747,end climb,SURFACE_DEPTH_REACHED
$STATE,7747,begin surface coast
$FINISH,-0.0,1.027338
$STATE,7760,end surface coast,CONTROL_FINISHED_OK
$STATE,7760,begin surface
$SM_CCo,7784,67.40,0.001,0,0,1725,250.21
$SM_GC,-0.00,0.00,0.00,67.40,0.000,0.000,0.001,337,2200,1725,-10.65,-0.96,250.21
$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,0.031447
$HUMID,1078906442
$INTERNAL_PRESSURE,15.9186
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.6,999.0
$24V_AH,24.1,99.984
$10V_AH,10.7,25.204
$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,33.875,99.550,287.025,67.400,0.000,0.000,0.000,80.720,9.750,0.000,22.313,1284.853,5266.790,498.195,734.304,299.974,0.000,1105.134,0.000,608.877,2160.000,55.974,0.000
$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,599.106,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129528
$DATA_FILE_SIZE,22201,741
$CAP_FILE_SIZE,97691,0
$CFSIZE,260165632,244486144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,6,36,0,0
$SOUNDSPEED,1458.0
$GPS,041009,175354,6643.808,-6020.849,22,1.1,22,18.0