version: 66.07
glider: 99
mission: 63
dive: 246
start: 10 6 109 12 58 17
data:
$ID,99
$MISSION,63
$DIVE,246
$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,-823636.06
$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,71
$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
$GPS1,125405,6651.876,-5932.497,14,1.1,14,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,125756,6651.876,-5932.497,24,1.1,24,18.0
$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,77.7,16460,-18.1,-10.000
$D_GRID,940
$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,16,-1.32,-146.0,0.0,0.0,0,72,0.00,0.00,-53.53,0.000,2,0.000,0.000,317,2283,3339,0,0,0,0,0,0
$GC,75,-1.32,-146.0,3.6,-18.0,11,90,10.40,2.80,0.00,0.000,4,0.000,0.000,2389,862,3341,2,0,3,0,0,0
$GC,113,-1.32,-146.0,16.3,-13.2,18,119,0.32,3.25,0.00,0.000,6,0.000,0.000,2353,2440,3343,0,0,2,0,0,0
$GC,190,-1.32,-146.0,26.2,-13.2,28,192,0.38,0.00,0.00,0.000,6,0.000,0.000,2379,2443,3345,0,0,0,0,0,0
$GC,381,-1.32,-146.0,46.9,-10.6,46,387,0.32,3.03,0.00,0.000,4,0.000,0.000,2327,760,3340,0,0,0,0,0,0
$GC,421,-1.32,-146.0,52.1,-13.4,49,427,0.50,2.80,0.00,0.000,6,0.000,0.000,2404,2355,3337,1,0,0,0,0,0
$GC,745,-1.32,-146.0,84.4,-9.6,79,751,0.28,2.85,0.00,0.000,4,0.000,0.000,2348,799,3344,0,0,2,0,0,0
$GC,774,-1.32,-146.0,87.6,-11.8,81,778,0.00,2.78,0.00,0.000,6,0.000,0.000,2345,2350,3339,0,0,1,0,0,0
$GC,1098,-1.32,-146.0,126.2,-11.7,111,1102,0.00,2.80,0.00,0.000,4,0.000,0.000,2348,779,3345,0,0,0,0,0,0
$GC,1125,-1.32,-146.0,129.3,-11.7,113,1130,0.00,2.72,0.00,0.000,6,0.000,0.000,2350,2352,3338,0,0,2,0,0,0
$GC,1450,-1.32,-146.0,166.6,-11.5,143,1455,0.20,2.95,0.00,0.000,4,0.000,0.000,2385,696,3342,0,0,3,0,0,0
$GC,1478,-1.32,-146.0,169.5,-9.8,145,1483,0.00,2.97,0.00,0.000,6,0.000,0.000,2391,2300,3344,0,0,1,0,0,0
$GC,1804,-1.32,-146.0,200.0,-9.4,175,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2291,3347,0,0,0,0,0,0
$GC,2121,-1.32,-146.0,229.4,-9.1,205,2126,0.00,2.58,0.00,0.000,4,0.000,0.000,2389,819,3341,0,0,1,0,0,0
$GC,2155,-1.32,-146.0,232.5,-9.0,207,2159,0.00,2.62,0.00,0.000,6,0.000,0.000,2390,2335,3342,0,0,0,0,0,0
$GC,2481,-1.32,-146.0,262.2,-9.1,238,2486,0.25,2.80,0.00,0.000,4,0.000,0.000,2346,802,3340,0,0,1,0,0,0
$GC,2509,-1.32,-146.0,265.3,-10.7,240,2513,0.00,2.58,0.00,0.000,6,0.000,0.000,2352,2290,3340,0,0,2,0,0,0
$GC,2833,-1.32,-146.0,300.0,-10.6,270,2835,0.22,0.00,0.00,0.000,6,0.000,0.000,2399,2288,3338,0,0,0,0,0,0
$GC,3152,-1.32,-146.0,328.5,-8.8,300,3156,0.00,2.55,0.00,0.000,4,0.000,0.000,2394,797,3334,0,0,0,0,0,0
$GC,3180,-1.32,-146.0,331.0,-8.8,302,3184,0.00,2.72,0.00,0.000,6,0.000,0.000,2390,2344,3341,0,0,1,0,0,0
$GC,3506,-1.32,-146.0,359.8,-8.8,332,3511,0.17,2.78,0.00,0.000,4,0.000,0.000,2353,780,3341,0,0,0,0,0,0
$GC,3534,-1.32,-146.0,362.8,-10.3,334,3539,0.00,2.78,0.00,0.000,6,0.000,0.000,2348,2331,3343,0,0,0,0,0,0
$GC,3858,-1.32,-146.0,397.3,-10.7,364,3863,0.00,2.83,0.00,0.000,4,0.000,0.000,2348,774,3340,0,0,0,0,0,0
$GC,3879,-1.32,-146.0,399.6,-10.6,365,3885,0.00,2.62,0.00,0.000,6,0.000,0.000,2350,2334,3342,0,0,0,0,0,0
$GC,4204,-1.32,-146.0,433.9,-10.5,396,4209,0.00,3.10,0.00,0.000,4,0.000,0.000,2345,520,3341,0,0,2,0,0,0
$GC,4232,-1.32,-146.0,436.9,-10.3,398,4241,0.30,3.67,0.00,0.000,6,0.000,0.000,2397,2373,3345,0,0,4,0,0,0
$STATE,4388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4388,begin apogee
$GC,4395,-0.31,0.0,450.6,8.5,413,4542,1.05,0.00,142.45,0.001,6,0.000,0.000,2604,2386,2748,0,0,0,0,0,0
$STATE,4544,end apogee,CONTROL_FINISHED_OK
$STATE,4544,begin climb
$GC,4547,1.32,146.0,452.8,0.0,428,4700,1.83,2.28,142.75,0.001,4,0.000,0.000,2978,3692,2152,0,0,1,0,0,0
$GC,4716,1.32,146.0,432.5,16.2,444,4723,0.30,2.60,0.00,0.000,6,0.000,0.000,2922,2145,2153,0,0,2,0,0,0
$GC,5042,1.32,146.0,389.4,13.1,475,5048,0.00,2.78,0.20,0.000,4,0.000,0.000,2921,3702,2151,0,0,0,0,0,0
$GC,5082,1.32,146.0,384.0,13.0,478,5087,0.00,2.62,0.00,0.000,6,0.000,0.000,2923,2301,2152,0,0,1,0,0,0
$GC,5406,1.32,146.0,341.2,13.2,508,5409,0.00,0.00,0.82,0.000,6,0.000,0.000,2920,2293,2153,0,0,0,0,0,0
$GC,5725,1.32,146.0,299.2,13.0,538,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2296,2153,0,0,0,0,0,0
$GC,6046,1.32,146.0,257.3,13.2,568,6048,0.22,0.00,0.00,0.000,6,0.001,0.000,2958,2294,2150,0,0,0,0,0,0
$GC,6362,1.32,146.0,207.8,15.9,598,6366,0.00,2.65,0.00,0.000,4,0.000,0.000,2965,3678,2152,0,0,1,0,0,0
$GC,6389,1.32,146.0,203.5,16.0,600,6394,0.28,2.58,0.00,0.000,6,0.000,0.000,2924,2230,2151,0,0,1,0,0,0
$GC,6713,1.32,146.0,161.1,13.0,630,6718,0.00,2.70,0.00,0.000,4,0.000,0.000,2921,3793,2152,0,0,0,0,0,0
$GC,6736,1.32,146.0,158.3,13.0,631,6741,0.00,2.70,0.00,0.000,6,0.000,0.000,2923,2267,2153,0,0,1,0,0,0
$GC,7060,1.32,146.0,116.8,12.5,662,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2265,2157,0,0,0,0,0,0
$GC,7381,1.32,146.0,77.2,12.2,692,7386,0.00,2.53,0.25,0.000,4,0.000,0.000,2925,3672,2161,0,0,1,0,0,0
$GC,7409,1.32,146.0,73.5,12.3,694,7413,0.00,2.45,0.00,0.000,6,0.000,0.000,2928,2293,2155,0,0,0,0,0,0
$GC,7733,1.32,146.0,34.6,11.7,724,7735,0.17,0.00,0.00,0.000,6,0.000,0.000,2963,2291,2151,0,0,0,0,0,0
$GC,7929,1.32,146.0,8.7,13.2,749,7933,0.25,0.00,0.00,0.000,6,0.000,0.000,2903,2286,2150,0,0,0,0,0,0
$STATE,7993,end climb,SURFACE_DEPTH_REACHED
$STATE,7993,begin surface coast
$FINISH,-0.0,1.026609
$STATE,8011,end surface coast,CONTROL_FINISHED_OK
$STATE,8011,begin surface
$SM_CCo,8035,66.85,0.001,0,0,1728,250.45
$SM_GC,-0.01,0.00,0.00,66.85,0.000,0.000,0.001,327,2286,1728,-10.70,1.50,250.45
$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,0.032214
$HUMID,1078993960
$INTERNAL_PRESSURE,16.0553
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,426.1,999.0
$24V_AH,24.1,104.808
$10V_AH,10.7,25.968
$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,30.325,88.450,286.475,66.850,0.000,0.000,0.000,82.107,9.750,0.000,27.513,1286.523,5527.758,485.345,739.564,301.601,0.000,1094.719,0.000,614.643,0.000,53.951,0.000
$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,611.386,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129464
$DATA_FILE_SIZE,25258,764
$CAP_FILE_SIZE,95883,0
$CFSIZE,260165632,243646464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,33,0,0
$SOUNDSPEED,1468.5
$GPS,061009,151442,6652.131,-5929.729,23,1.1,23,18.0