version: 66.07
glider: 99
mission: 63
dive: 244
start: 10 6 109 8 18 45
data:
$ID,99
$MISSION,63
$DIVE,244
$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,-823588.5
$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,2
$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
$GPS1,081440,6651.355,-5937.966,16,1.1,16,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,081824,6651.355,-5937.966,12,1.1,12,18.0
$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,73.9,20373,-18.1,-10.000
$D_GRID,918
$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,-146.0,0.0,0.0,0,71,0.00,0.00,-53.22,0.000,6,0.000,0.000,344,2170,3347,0,0,0,0,0,0
$GC,75,-1.32,-146.0,3.8,-19.0,11,90,10.18,3.03,0.00,0.000,4,0.000,0.000,2424,3784,3343,0,0,3,0,0,0
$GC,113,-1.32,-146.0,16.2,-13.7,18,118,0.45,2.97,0.00,0.000,6,0.000,0.000,2335,2090,3345,0,0,1,0,0,0
$GC,189,-1.32,-146.0,26.5,-13.9,28,191,0.32,0.00,0.00,0.000,6,0.000,0.000,2409,2085,3345,0,0,0,0,0,0
$GC,381,-1.32,-146.0,45.5,-9.5,46,387,0.35,2.97,0.00,0.000,4,0.000,0.000,2344,3708,3346,0,0,1,0,0,0
$GC,403,-1.32,-146.0,48.3,-11.9,47,409,0.30,2.78,0.00,0.000,6,0.000,0.000,2394,2122,3347,0,0,1,0,0,0
$GC,600,-1.32,-146.0,69.0,-10.3,66,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2121,3346,0,0,0,0,0,0
$GC,922,-1.32,-146.0,101.2,-10.1,96,927,0.00,2.83,0.00,0.000,4,0.000,0.000,2390,3684,3342,0,0,1,0,0,0
$GC,961,-1.32,-146.0,105.4,-10.2,99,966,0.00,3.05,0.00,0.000,6,0.000,0.000,2394,2112,3343,0,0,2,0,0,0
$GC,1285,-1.32,-146.0,137.1,-9.6,129,1293,0.00,2.88,0.00,0.000,4,0.000,0.000,2388,3695,3341,0,0,0,0,0,0
$GC,1312,-1.32,-146.0,139.6,-9.8,131,1317,0.00,2.78,0.00,0.000,6,0.000,0.000,2389,2129,3348,0,0,1,0,0,0
$GC,1637,-1.32,-146.0,170.7,-9.6,161,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2122,3344,0,0,0,0,0,0
$GC,1956,-1.32,-146.0,200.6,-9.3,191,1960,0.00,2.75,0.00,0.000,4,0.000,0.000,2395,3723,3346,0,0,0,0,0,0
$GC,1995,-1.32,-146.0,204.3,-9.3,194,2000,0.00,2.97,0.00,0.000,6,0.000,0.000,2377,2153,3343,0,0,2,0,0,0
$GC,2320,-1.32,-146.0,234.2,-9.1,224,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2150,3342,0,0,0,0,0,0
$GC,2638,-1.32,-146.0,263.4,-9.2,254,2643,0.00,2.67,0.00,0.000,4,0.000,0.000,2384,3735,3346,0,0,1,0,0,0
$GC,2671,-1.32,-146.0,266.4,-8.9,256,2676,0.00,2.90,0.00,0.000,6,0.000,0.000,2389,2101,3341,0,0,0,0,0,0
$GC,2995,-1.32,-146.0,295.9,-9.1,287,3000,0.00,2.88,0.00,0.000,4,0.000,0.000,2386,3702,3340,0,0,0,0,0,0
$GC,3023,-1.32,-146.0,298.4,-9.1,289,3028,0.00,2.75,0.00,0.000,6,0.000,0.000,2392,2100,3339,0,0,2,0,0,0
$GC,3348,-1.32,-146.0,327.9,-9.1,319,3352,0.00,2.83,0.00,0.000,4,0.000,0.000,2384,3691,3347,0,0,1,0,0,0
$GC,3369,-1.32,-146.0,329.9,-9.1,320,3375,0.30,2.70,0.00,0.000,6,0.000,0.000,2345,2149,3351,0,0,2,0,0,0
$GC,3693,-1.32,-146.0,365.0,-10.8,351,3695,0.30,0.00,0.00,0.000,6,0.000,0.000,2386,2149,3347,0,0,0,0,0,0
$GC,4012,-1.32,-146.0,394.0,-9.0,381,4018,0.22,2.75,0.00,0.000,4,0.000,0.000,2343,3696,3346,0,0,2,0,0,0
$GC,4045,-1.32,-146.0,397.5,-10.5,383,4051,0.45,2.83,0.00,0.000,6,0.000,0.000,2406,1996,3343,0,0,1,0,0,0
$GC,4370,-1.32,-146.0,424.4,-8.3,414,4376,0.32,3.05,0.00,0.000,4,0.000,0.000,2344,3714,3345,0,0,0,0,0,0
$GC,4426,-1.32,-146.0,430.3,-10.8,418,4432,0.25,2.78,0.00,0.000,6,0.000,0.000,2383,2176,3349,0,0,0,0,0,0
$STATE,4644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4644,begin apogee
$GC,4651,-0.31,0.0,450.0,8.9,439,4799,1.10,0.00,143.52,0.001,6,0.000,0.000,2607,2414,2747,1,0,0,0,0,0
$STATE,4802,end apogee,CONTROL_FINISHED_OK
$STATE,4802,begin climb
$GC,4805,1.32,146.0,452.5,0.0,454,4957,1.80,2.20,142.15,0.001,4,0.000,0.000,3022,3707,2154,1,0,1,0,0,0
$GC,4974,1.32,146.0,428.7,19.1,470,4980,0.52,2.65,0.00,0.000,6,0.000,0.000,2948,2199,2156,1,0,1,0,0,0
$GC,5300,1.32,146.0,379.8,14.8,501,5304,0.00,2.65,0.00,0.000,4,0.000,0.000,2948,3701,2157,0,0,0,0,0,0
$GC,5332,1.32,146.0,374.7,14.9,503,5337,0.00,2.60,0.00,0.000,6,0.000,0.000,2949,2257,2157,0,0,1,0,0,0
$GC,5656,1.32,146.0,326.4,15.1,534,5657,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2268,2149,0,0,0,0,0,0
$GC,5978,1.32,146.0,279.0,14.8,564,5982,0.00,2.50,0.00,0.000,4,0.000,0.000,2953,3721,2152,0,0,4,0,0,0
$GC,6005,1.32,146.0,274.5,15.2,566,6010,0.00,2.67,0.05,0.000,6,0.000,0.000,2949,2229,2155,0,0,1,0,0,0
$GC,6330,1.32,146.0,226.5,14.7,596,6334,0.00,2.65,0.00,0.000,4,0.000,0.000,2947,3707,2153,0,0,1,0,0,0
$GC,6357,1.32,146.0,222.4,14.5,598,6362,0.00,2.53,0.00,0.000,6,0.000,0.000,2953,2283,2159,0,0,1,0,0,0
$GC,6681,1.32,146.0,174.9,14.6,628,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2283,2154,0,0,0,0,0,0
$GC,7003,1.32,146.0,129.0,14.5,658,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2272,2154,0,0,0,0,0,0
$GC,7331,1.32,146.0,83.0,13.9,689,7336,0.00,2.65,0.00,0.000,4,0.000,0.000,2952,3769,2157,0,0,0,0,0,0
$GC,7359,1.32,146.0,78.6,13.9,691,7364,0.00,2.80,0.00,0.000,6,0.000,0.000,2950,2224,2151,0,0,3,0,0,0
$GC,7684,1.32,146.0,35.1,13.1,721,7685,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2226,2154,0,0,0,0,0,0
$GC,7879,1.32,146.0,10.5,12.3,745,7884,0.00,2.50,0.00,0.000,4,0.000,0.000,2950,3716,2159,0,0,0,0,0,0
$GC,7912,1.32,146.0,6.4,12.7,751,7917,0.00,2.53,0.00,0.000,6,0.000,0.000,2954,2316,2154,0,0,0,0,0,0
$STATE,7948,end climb,SURFACE_DEPTH_REACHED
$STATE,7949,begin surface coast
$FINISH,-0.0,1.026582
$STATE,7967,end surface coast,CONTROL_FINISHED_OK
$STATE,7967,begin surface
$SM_CCo,7991,67.15,0.001,0,0,1724,250.21
$SM_GC,-0.01,0.00,0.00,67.15,0.000,0.000,0.001,324,2184,1724,-10.70,-1.05,250.21
$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,1078995250
$INTERNAL_PRESSURE,16.0553
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.4,999.0
$24V_AH,24.1,104.312
$10V_AH,10.7,25.890
$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,29.850,88.700,285.725,67.150,0.000,0.000,0.000,81.863,9.750,0.000,14.517,1304.365,5475.087,482.417,727.264,299.864,0.000,1098.153,0.000,615.785,1440.000,53.619,0.000
$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,608.094,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129516
$DATA_FILE_SIZE,25303,761
$CAP_FILE_SIZE,96240,0
$CFSIZE,260165632,243732480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,35,0,0
$SOUNDSPEED,1468.0
$GPS,061009,103410,6651.604,-5935.250,6,1.1,6,18.0