version: 66.07
glider: 99
mission: 63
dive: 239
start: 10 5 109 20 48 37
data:
$ID,99
$MISSION,63
$DIVE,239
$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,-823472.56
$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,54
$R_STBD_OVSHOOT,0
$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
$GPS1,204423,6649.558,-5951.104,7,1.1,7,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-70.0
$GPS2,204815,6649.558,-5951.104,21,1.1,21,18.0
$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,66.9,30046,-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,-53.62,0.000,6,0.000,0.000,334,2251,3352,0,0,0,0,0,0
$GC,74,-1.32,-146.0,4.3,-21.8,11,89,10.18,0.00,0.00,0.000,6,0.000,0.000,2388,2254,3347,0,0,0,0,0,0
$GC,156,-1.32,-146.0,22.5,-11.6,24,157,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2250,3354,0,0,0,0,0,0
$GC,347,-1.32,-146.0,44.1,-11.2,42,348,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2250,3351,0,0,0,0,0,0
$GC,539,-1.32,-146.0,64.9,-10.7,60,543,0.00,2.58,0.00,0.000,4,0.000,0.000,2384,779,3357,0,0,0,0,0,0
$GC,559,-1.32,-146.0,67.2,-10.4,61,565,0.00,2.78,0.00,0.000,6,0.000,0.000,2390,2306,3352,0,0,1,0,0,0
$GC,886,-1.32,-146.0,100.9,-10.2,92,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2314,3351,0,0,0,0,0,0
$GC,1203,-1.32,-146.0,132.8,-9.8,122,1208,0.00,2.70,0.00,0.000,4,0.000,0.000,2387,786,3356,0,0,1,0,0,0
$GC,1242,-1.32,-146.0,136.6,-10.1,125,1247,0.00,3.03,0.00,0.000,6,0.000,0.000,2388,2330,3354,0,0,1,0,0,0
$GC,1566,-1.32,-146.0,168.3,-9.8,155,1571,0.00,2.78,0.00,0.000,4,0.000,0.000,2389,768,3354,0,0,0,0,0,0
$GC,1594,-1.32,-146.0,171.0,-9.6,157,1599,0.00,3.03,0.00,0.000,6,0.000,0.000,2382,2435,3358,0,0,2,0,0,0
$GC,1919,-1.32,-146.0,202.1,-9.5,187,1924,0.00,3.47,0.00,0.000,4,0.000,0.000,2386,810,3352,0,0,2,0,0,0
$GC,1963,-1.32,-146.0,206.3,-9.5,190,1968,0.00,3.20,0.00,0.000,6,0.000,0.000,2388,2357,3357,0,0,1,0,0,0
$GC,2289,-1.32,-146.0,236.8,-9.4,221,2294,0.00,2.92,0.00,0.000,4,0.000,0.000,2376,746,3355,0,0,0,0,0,0
$GC,2317,-1.32,-146.0,239.6,-9.5,223,2322,0.00,2.92,0.00,0.000,6,0.000,0.000,2383,2326,3356,0,0,2,0,0,0
$GC,2642,-1.32,-146.0,269.9,-9.3,253,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2325,3349,0,0,0,0,0,0
$GC,2961,-1.32,-146.0,299.5,-9.4,283,2967,0.00,2.67,0.00,0.000,4,0.000,0.000,2389,732,3355,0,0,0,0,0,0
$GC,3006,-1.32,-146.0,303.8,-9.5,287,3011,0.00,2.85,0.00,0.000,6,0.000,0.000,2391,2328,3355,0,0,0,0,0,0
$GC,3331,-1.32,-146.0,333.8,-9.1,317,3336,0.00,2.80,0.00,0.000,4,0.000,0.000,2389,728,3354,0,0,1,0,0,0
$GC,3353,-1.32,-146.0,335.8,-9.2,318,3358,0.00,2.78,0.00,0.000,6,0.000,0.000,2379,2302,3353,0,0,1,0,0,0
$GC,3678,-1.32,-146.0,365.8,-9.1,349,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2300,3352,0,0,0,0,0,0
$GC,3997,-1.32,-146.0,395.0,-9.2,379,4001,0.00,3.00,0.00,0.000,4,0.000,0.000,2394,770,3350,0,0,1,0,0,0
$GC,4029,-1.32,-146.0,398.1,-8.8,381,4034,0.00,2.75,0.00,0.000,6,0.000,0.000,2393,2365,3351,0,0,2,0,0,0
$GC,4354,-1.32,-146.0,427.7,-9.1,412,4358,0.00,2.83,0.00,0.000,4,0.000,0.000,2392,762,3354,0,0,1,0,0,0
$GC,4386,-1.32,-146.0,430.8,-9.4,414,4391,0.00,2.78,0.00,0.000,6,0.000,0.000,2388,2312,3353,0,0,2,0,0,0
$STATE,4602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4602,begin apogee
$GC,4611,-0.31,0.0,450.6,9.0,435,4761,1.12,0.00,145.80,0.001,6,0.000,0.000,2615,2360,2745,0,0,0,0,0,0
$STATE,4764,end apogee,CONTROL_FINISHED_OK
$STATE,4764,begin climb
$GC,4767,1.32,146.0,453.1,0.0,450,4919,1.88,2.33,141.93,0.001,4,0.000,0.000,2994,3667,2157,0,0,2,0,0,0
$GC,4936,1.32,146.0,431.0,18.0,466,4942,0.38,2.62,0.00,0.000,6,0.000,0.000,2881,2249,2157,0,0,1,0,0,0
$GC,5262,1.32,146.0,394.4,10.9,497,5264,0.60,0.00,0.00,0.000,6,0.000,0.000,2974,2245,2152,1,0,0,0,0,0
$GC,5578,1.32,146.0,343.2,16.2,527,5584,0.45,2.72,0.00,0.000,4,0.000,0.000,2892,3795,2149,0,0,3,0,0,0
$GC,5611,1.32,146.0,339.0,11.4,529,5617,0.60,2.95,0.00,0.000,6,0.000,0.000,2934,2266,2152,1,0,1,0,0,0
$GC,5936,1.32,146.0,293.5,14.2,560,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2270,2154,0,0,0,0,0,0
$GC,6257,1.32,146.0,248.7,14.0,590,6262,0.00,2.75,0.00,0.000,4,0.000,0.000,2938,3679,2150,0,0,2,0,0,0
$GC,6289,1.32,146.0,243.8,14.0,592,6294,0.00,2.70,0.00,0.000,6,0.000,0.000,2938,2209,2157,0,0,2,0,0,0
$GC,6614,1.32,146.0,198.7,13.8,623,6619,0.00,2.75,0.57,0.000,4,0.000,0.000,2938,3647,2158,0,0,0,0,0,0
$GC,6643,1.32,146.0,194.7,13.9,625,6647,0.00,2.78,0.00,0.000,6,0.000,0.000,2938,2284,2152,0,0,1,0,0,0
$GC,6967,1.32,146.0,150.1,13.8,655,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2280,2151,0,0,0,0,0,0
$GC,7288,1.32,146.0,107.1,13.3,685,7290,0.00,0.00,0.38,0.000,6,0.000,0.000,2940,2282,2155,0,0,0,0,0,0
$GC,7606,1.32,146.0,65.6,12.8,715,7610,0.00,2.65,0.00,0.000,4,0.000,0.000,2940,3703,2158,0,0,1,0,0,0
$GC,7633,1.32,146.0,61.8,12.8,717,7637,0.00,2.47,0.00,0.000,6,0.000,0.000,2935,2308,2156,0,0,0,0,0,0
$GC,7957,1.32,146.0,22.1,11.9,747,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2308,2152,0,0,0,0,0,0
$STATE,8133,end climb,SURFACE_DEPTH_REACHED
$STATE,8136,begin surface coast
$FINISH,-0.0,1.026499
$STATE,8151,end surface coast,CONTROL_FINISHED_OK
$STATE,8151,begin surface
$SM_CCo,8176,67.32,0.001,0,0,1723,250.70
$SM_GC,-0.00,0.00,0.00,67.32,0.000,0.000,0.001,329,2211,1723,-10.69,-0.40,250.70
$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,0.029913
$HUMID,1078982571
$INTERNAL_PRESSURE,16.026
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.8,999.0
$24V_AH,24.1,103.086
$10V_AH,10.7,25.696
$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,28.300,79.050,288.675,67.325,0.000,0.000,0.000,84.871,9.750,0.000,24.184,1291.193,5665.165,478.459,748.140,300.708,0.000,1094.923,0.000,626.427,360.000,55.740,0.000
$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,624.603,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129580
$DATA_FILE_SIZE,25281,780
$CAP_FILE_SIZE,93498,0
$CFSIZE,260165632,243949568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,32,0,0
$SOUNDSPEED,1467.2
$GPS,051009,230722,6650.040,-5948.508,22,1.1,22,18.0