version: 66.07
glider: 99
mission: 63
dive: 253
start: 10 7 109 5 8 59
data:
$ID,99
$MISSION,63
$DIVE,253
$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,-823788.5
$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,82
$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
$GPS1,050453,6653.782,-5913.620,18,1.1,18,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,050838,6653.782,-5913.620,17,1.1,18,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_ADD3_EB
$TGT_LATLONG,6655.000,-5823.000
$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,68.5,36825,-18.1,-10.000
$D_GRID,1046
$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,-53.40,0.000,6,0.000,0.000,321,2312,3348,0,0,0,0,0,0
$GC,74,-1.32,-146.0,3.6,-17.7,11,90,10.27,3.17,0.00,0.000,4,0.000,0.000,2385,565,3351,1,0,2,0,0,0
$GC,135,-1.32,-146.0,18.7,-11.1,22,141,0.00,3.28,0.00,0.000,6,0.000,0.000,2385,2327,3352,0,0,2,0,0,0
$GC,205,-1.32,-146.0,26.5,-11.1,30,206,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2321,3347,0,0,0,0,0,0
$GC,397,-1.32,-146.0,47.2,-10.8,48,398,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2320,3349,0,0,0,0,0,0
$GC,588,-1.32,-146.0,67.2,-10.3,66,593,0.25,2.83,0.00,0.000,4,0.000,0.000,2355,785,3350,0,0,1,0,0,0
$GC,616,-1.32,-146.0,70.5,-12.2,68,620,0.00,2.85,0.00,0.000,6,0.000,0.000,2344,2388,3352,0,0,0,0,0,0
$GC,940,-1.32,-146.0,109.2,-11.7,98,945,0.00,3.03,0.00,0.000,4,0.000,0.000,2347,761,3355,0,0,1,0,0,0
$GC,979,-1.32,-146.0,113.8,-11.6,101,983,0.00,2.80,0.00,0.000,6,0.000,0.000,2347,2316,3349,0,0,1,0,0,0
$GC,1305,-1.32,-146.0,151.2,-11.5,131,1307,0.20,0.00,0.00,0.000,6,0.000,0.000,2391,2310,3349,0,0,0,0,0,0
$GC,1622,-1.32,-146.0,180.9,-9.4,161,1628,0.22,2.78,0.00,0.000,4,0.000,0.000,2352,787,3348,0,0,1,0,0,0
$GC,1662,-1.32,-146.0,185.2,-11.1,164,1666,0.00,2.75,0.00,0.000,6,0.000,0.000,2344,2345,3345,0,0,0,0,0,0
$GC,1988,-1.32,-146.0,220.8,-10.9,194,1993,0.20,2.78,0.00,0.000,4,0.000,0.000,2399,796,3345,0,0,0,0,0,0
$GC,2016,-1.32,-146.0,223.7,-9.1,196,2022,0.28,2.67,0.00,0.000,6,0.000,0.000,2351,2329,3347,0,0,0,0,0,0
$GC,2341,-1.32,-146.0,258.8,-10.6,226,2346,0.20,2.67,0.00,0.000,4,0.000,0.000,2392,773,3352,0,0,2,0,0,0
$GC,2362,-1.32,-146.0,261.0,-9.9,227,2367,0.00,2.83,0.00,0.000,6,0.000,0.000,2389,2341,3344,0,0,1,0,0,0
$GC,2687,-1.32,-146.0,290.2,-9.2,258,2692,0.00,2.92,0.00,0.000,4,0.000,0.000,2382,812,3350,0,0,2,0,0,0
$GC,2720,-1.32,-146.0,293.3,-9.2,260,2725,0.00,2.85,0.00,0.000,6,0.000,0.000,2389,2493,3350,0,0,1,0,0,0
$GC,3045,-1.32,-146.0,322.4,-9.1,291,3050,0.00,3.03,0.00,0.000,4,0.000,0.000,2388,766,3352,0,0,1,0,0,0
$GC,3100,-1.32,-146.0,327.5,-9.3,295,3105,0.00,2.75,0.00,0.000,6,0.000,0.000,2392,2305,3343,0,0,1,0,0,0
$GC,3426,-1.32,-146.0,356.5,-9.1,326,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2295,3348,0,0,0,0,0,0
$GC,3743,-1.32,-146.0,385.0,-8.9,356,3747,0.00,2.62,0.00,0.000,4,0.000,0.000,2396,834,3344,0,0,0,0,0,0
$GC,3787,-1.32,-146.0,389.0,-9.1,359,3792,0.00,2.62,0.00,0.000,6,0.000,0.000,2390,2283,3345,0,0,0,0,0,0
$GC,4112,-1.32,-146.0,417.9,-9.0,390,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2288,3348,0,0,0,0,0,0
$GC,4430,-1.32,-146.0,446.3,-8.8,420,4434,0.00,2.40,0.00,0.000,4,0.000,0.000,2390,855,3354,0,0,1,0,0,0
$GC,4462,-1.32,-146.0,449.2,-8.8,422,4468,0.00,2.67,0.00,0.000,6,0.000,0.000,2393,2353,3351,0,0,1,0,0,0
$STATE,4477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4477,begin apogee
$GC,4483,-0.31,0.0,450.7,9.0,424,4632,1.12,0.00,144.07,0.001,6,0.000,0.000,2610,2341,2751,0,0,0,0,0,0
$STATE,4634,end apogee,CONTROL_FINISHED_OK
$STATE,4635,begin climb
$GC,4637,1.32,146.0,452.9,0.0,439,4785,1.65,0.00,142.32,0.001,6,0.000,0.000,2967,2341,2154,0,0,0,0,0,0
$GC,5102,1.32,146.0,385.4,16.0,484,5104,0.22,0.00,0.00,0.000,6,0.000,0.000,2931,2344,2150,0,0,0,0,0,0
$GC,5421,1.32,146.0,342.1,13.6,514,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2341,2155,0,0,0,0,0,0
$GC,5741,1.32,146.0,299.2,13.5,544,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2333,2151,0,0,0,0,0,0
$GC,6062,1.32,146.0,256.4,13.4,574,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2336,2159,0,0,0,0,0,0
$GC,6389,1.32,146.0,212.6,13.2,605,6394,0.00,2.65,0.00,0.000,4,0.000,0.000,2938,908,2150,0,0,1,0,0,0
$GC,6417,1.32,146.0,208.5,13.6,607,6421,0.00,2.67,0.00,0.000,6,0.000,0.000,2927,2443,2153,0,0,1,0,0,0
$GC,6741,1.32,146.0,165.7,13.4,637,6746,0.00,2.83,0.00,0.000,4,0.000,0.000,2927,976,2153,0,0,0,0,0,0
$GC,6762,1.32,146.0,162.8,13.1,638,6767,0.00,2.92,0.00,0.000,6,0.000,0.000,2928,2417,2152,0,0,1,0,0,0
$GC,7086,1.32,146.0,120.8,13.0,669,7091,0.00,2.88,0.00,0.000,4,0.000,0.000,2934,790,2161,0,0,0,0,0,0
$GC,7107,1.32,146.0,118.0,12.9,670,7114,0.00,3.00,1.27,0.000,6,0.000,0.000,2929,2479,2152,0,0,2,0,0,0
$GC,7438,1.32,146.0,76.2,12.6,702,7443,0.00,2.80,0.00,0.000,4,0.000,0.000,2931,855,2158,0,0,2,0,0,0
$GC,7470,1.32,146.0,72.1,12.4,704,7476,0.00,2.88,0.00,0.000,6,0.000,0.000,2924,2436,2154,0,0,0,0,0,0
$GC,7797,1.32,146.0,32.9,11.9,735,7802,0.00,2.67,0.00,0.000,4,0.000,0.000,2931,920,2154,0,0,0,0,0,0
$GC,7825,1.32,146.0,29.3,12.2,737,7830,0.00,2.88,0.00,0.000,6,0.000,0.000,2922,2425,2155,0,0,3,0,0,0
$GC,8032,1.32,146.0,6.0,11.5,765,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2421,2156,0,0,0,0,0,0
$STATE,8063,end climb,SURFACE_DEPTH_REACHED
$STATE,8063,begin surface coast
$FINISH,-0.0,1.026684
$STATE,8081,end surface coast,CONTROL_FINISHED_OK
$STATE,8081,begin surface
$SM_CCo,8106,67.70,0.001,0,0,1729,250.94
$SM_GC,-0.00,0.00,0.00,67.70,0.000,0.000,0.001,311,2247,1729,-10.78,0.51,250.94
$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,1078969668
$INTERNAL_PRESSURE,15.9772
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.5,999.0
$24V_AH,24.1,106.532
$10V_AH,10.7,26.240
$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,27.725,84.825,287.675,67.700,0.000,0.000,0.000,81.736,9.750,0.000,19.844,1300.640,5580.427,495.983,730.125,299.794,0.000,1098.592,0.000,615.851,0.000,58.401,0.000
$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,622.268,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129584
$DATA_FILE_SIZE,25273,774
$CAP_FILE_SIZE,93360,0
$CFSIZE,260165632,243359744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,29,0,0
$SOUNDSPEED,1468.7
$GPS,071009,072634,6654.165,-5910.941,21,1.1,21,18.0