version: 66.07
glider: 99
mission: 63
dive: 230
start: 10 5 109 0 38 47
data:
$ID,99
$MISSION,63
$DIVE,230
$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,-823261.62
$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,69
$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
$GPS1,003449,6645.462,-6013.663,12,1.1,12,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,003825,6645.462,-6013.663,10,1.1,10,18.0
$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,59.5,13206,-18.1,-10.000
$D_GRID,561
$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,-53.40,0.000,6,0.000,0.000,328,2125,3341,0,0,0,0,0,0
$GC,75,-1.32,-146.0,1.9,-8.0,11,90,10.20,2.85,0.00,0.000,4,0.000,0.000,2383,3673,3345,0,0,0,0,0,0
$GC,113,-1.32,-146.0,12.9,-12.2,18,118,0.00,2.80,0.00,0.000,6,0.000,0.000,2382,2229,3343,0,0,0,0,0,0
$GC,186,-1.32,-146.0,20.1,-9.8,31,187,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2233,3344,0,0,0,0,0,0
$GC,377,-1.32,-146.0,39.2,-10.1,49,378,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2231,3346,0,0,0,0,0,0
$GC,568,-1.32,-146.0,58.2,-9.9,67,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2227,3341,0,0,0,0,0,0
$GC,889,-1.32,-146.0,89.9,-9.8,97,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2233,3349,0,0,0,0,0,0
$GC,1206,-1.32,-146.0,121.7,-9.9,127,1210,0.00,2.95,0.00,0.000,4,0.000,0.000,2389,614,3345,0,0,1,0,0,0
$GC,1227,-1.32,-146.0,123.9,-10.1,128,1232,0.00,3.15,0.00,0.000,6,0.000,0.000,2388,2388,3347,0,0,2,0,0,0
$GC,1551,-1.32,-146.0,156.2,-10.1,159,1556,0.00,2.88,0.00,0.000,4,0.000,0.000,2388,782,3342,0,0,2,0,0,0
$GC,1591,-1.32,-146.0,160.0,-10.0,162,1595,0.00,2.70,0.00,0.000,6,0.000,0.000,2385,2295,3350,0,0,0,0,0,0
$GC,1915,-1.32,-146.0,192.5,-10.0,192,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2292,3347,0,0,0,0,0,0
$GC,2234,-1.32,-146.0,224.2,-9.9,222,2238,0.00,2.58,0.00,0.000,4,0.000,0.000,2389,801,3344,0,0,1,0,0,0
$GC,2262,-1.32,-146.0,227.0,-9.7,224,2266,0.00,2.78,0.00,0.000,6,0.000,0.000,2388,2338,3348,0,0,0,0,0,0
$GC,2588,-1.32,-146.0,259.3,-10.0,254,2592,0.00,2.67,0.00,0.000,4,0.000,0.000,2393,810,3345,0,0,0,0,0,0
$GC,2615,-1.32,-146.0,262.2,-10.2,256,2619,0.00,2.72,0.00,0.000,6,0.000,0.000,2387,2348,3343,0,0,1,0,0,0
$GC,2939,-1.32,-146.0,294.5,-10.0,286,2944,0.00,2.75,0.00,0.000,4,0.000,0.000,2392,815,3350,0,0,0,0,0,0
$GC,2967,-1.32,-146.0,297.3,-10.4,288,2972,0.00,2.67,0.00,0.000,6,0.000,0.000,2394,2297,3350,0,0,0,0,0,0
$GC,3292,-1.32,-146.0,329.6,-9.9,318,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2304,3348,0,0,0,0,0,0
$GC,3611,-1.32,-146.0,361.4,-10.0,348,3615,0.00,2.83,0.00,0.000,4,0.000,0.000,2391,814,3347,0,0,1,0,0,0
$GC,3643,-1.32,-146.0,364.7,-9.8,350,3648,0.00,2.62,0.00,0.000,6,0.000,0.000,2388,2292,3348,0,0,1,0,0,0
$GC,3968,-1.32,-146.0,396.9,-9.9,381,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2297,3345,0,0,0,0,0,0
$GC,4286,-1.32,-146.0,428.7,-10.1,411,4291,0.00,3.00,0.00,0.000,4,0.000,0.000,2389,666,3346,0,0,2,0,0,0
$GC,4318,-1.32,-146.0,431.9,-10.0,413,4323,0.00,2.97,0.00,0.000,6,0.000,0.000,2389,2316,3344,0,0,1,0,0,0
$STATE,4503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4503,begin apogee
$GC,4510,-0.31,0.0,450.4,9.8,431,4657,1.12,0.00,143.00,0.001,6,0.000,0.000,2609,2374,2750,0,0,0,0,0,0
$STATE,4660,end apogee,CONTROL_FINISHED_OK
$STATE,4660,begin climb
$GC,4663,1.32,146.0,454.0,0.0,446,4815,1.77,2.38,142.12,0.001,4,0.000,0.000,2970,3626,2151,1,0,1,0,0,0
$GC,4832,1.32,146.0,436.0,15.4,462,4838,0.38,2.35,0.00,0.000,6,0.000,0.000,2913,2313,2152,0,0,1,0,0,0
$GC,5156,1.32,146.0,397.4,11.8,493,5158,0.32,0.00,0.00,0.000,6,0.000,0.000,2992,2299,2151,0,0,0,0,0,0
$GC,5476,1.32,146.0,344.3,16.9,523,5478,0.30,0.00,0.00,0.000,6,0.000,0.000,2931,2307,2154,0,0,0,0,0,0
$GC,5794,1.32,146.0,302.8,12.9,553,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2305,2152,0,0,0,0,0,0
$GC,6115,1.32,146.0,261.6,13.1,583,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2308,2151,0,0,0,0,0,0
$GC,6433,1.32,146.0,220.4,13.1,613,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2308,2154,0,0,0,0,0,0
$GC,6752,1.32,146.0,179.3,12.8,643,6756,0.00,2.60,0.00,0.000,4,0.000,0.000,2932,3729,2151,0,0,0,0,0,0
$GC,6780,1.32,146.0,175.4,12.7,645,6784,0.00,2.58,0.00,0.000,6,0.000,0.000,2938,2210,2156,0,0,0,0,0,0
$GC,7104,1.32,146.0,133.4,12.8,675,7109,0.00,2.60,0.00,0.000,4,0.000,0.000,2925,3682,2154,0,0,0,0,0,0
$GC,7132,1.32,146.0,129.7,13.1,677,7137,0.00,2.45,0.00,0.000,6,0.000,0.000,2928,2290,2149,0,0,1,0,0,0
$GC,7456,1.32,146.0,87.8,13.1,707,7457,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2273,2157,0,0,0,0,0,0
$GC,7777,1.32,146.0,46.7,13.1,737,7778,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2270,2146,0,0,0,0,0,0
$GC,7968,1.32,146.0,21.9,13.0,755,7972,0.00,2.38,0.00,0.000,4,0.000,0.000,2934,3641,2155,0,0,0,0,0,0
$GC,7996,1.32,146.0,18.2,12.9,758,8001,0.00,2.67,0.00,0.000,6,0.000,0.000,2936,2178,2154,0,0,1,0,0,0
$GC,8069,1.32,146.0,8.7,13.2,771,8073,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2192,2157,0,0,0,0,0,0
$STATE,8122,end climb,SURFACE_DEPTH_REACHED
$STATE,8122,begin surface coast
$FINISH,-0.0,1.027344
$STATE,8135,end surface coast,CONTROL_FINISHED_OK
$STATE,8135,begin surface
$SM_CCo,8159,67.12,0.001,0,0,1731,250.21
$SM_GC,-0.00,0.00,0.00,67.12,0.000,0.000,0.001,334,2267,1731,-10.66,1.27,250.21
$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,0.03068
$HUMID,1078949023
$INTERNAL_PRESSURE,15.9088
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.5,999.0
$24V_AH,24.1,100.937
$10V_AH,10.7,25.357
$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,27.050,65.125,285.125,67.125,0.000,0.000,0.000,81.011,9.750,0.000,11.659,1320.003,5640.320,461.077,731.300,299.738,0.000,1068.554,0.000,617.831,720.000,58.230,0.000
$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,637.907,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129492
$DATA_FILE_SIZE,25306,783
$CAP_FILE_SIZE,91123,0
$CFSIZE,260165632,244318208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,16,0,0
$SOUNDSPEED,1458.1
$GPS,051009,025704,6646.072,-6011.211,10,1.1,10,18.0