version: 66.07
glider: 99
mission: 63
dive: 277
start: 10 9 109 12 15 55
data:
$ID,99
$MISSION,63
$DIVE,277
$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,-3
$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,-824459.81
$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,63
$R_STBD_OVSHOOT,6
$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
$GPS1,121139,6700.059,-5809.203,21,1.1,21,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-70.0
$GPS2,121534,6700.059,-5809.203,27,1.1,28,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_ADD4_EB
$TGT_LATLONG,6659.000,-5735.000
$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,76.5,24845,-18.1,-10.000
$D_GRID,954
$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,-146.0,0.0,0.0,0,70,0.00,0.00,-51.95,0.000,2,0.000,0.000,330,2289,3304,0,0,0,0,0,0
$GC,73,-1.32,-146.0,3.1,-15.2,10,94,10.23,3.35,-1.58,0.000,4,0.000,0.000,2411,641,3355,0,0,4,0,0,0
$GC,117,-1.32,-146.0,15.5,-10.7,18,123,0.62,3.08,0.00,0.000,6,0.000,0.000,2294,2379,3358,1,0,2,0,0,0
$GC,195,-1.32,-146.0,27.9,-17.1,28,197,0.47,0.00,0.00,0.000,6,0.000,0.000,2378,2385,3353,1,0,0,0,0,0
$GC,385,-1.32,-146.0,50.3,-11.3,46,389,0.00,2.95,0.00,0.000,4,0.000,0.000,2377,837,3355,0,0,1,0,0,0
$GC,412,-1.32,-146.0,53.4,-11.2,48,417,0.00,3.05,0.00,0.000,6,0.000,0.000,2381,2331,3353,0,0,0,0,0,0
$GC,736,-1.32,-146.0,88.0,-10.6,78,741,0.00,2.72,0.00,0.000,4,0.000,0.000,2379,778,3362,0,0,1,0,0,0
$GC,758,-1.32,-146.0,90.3,-10.5,79,762,0.00,2.83,0.00,0.000,6,0.000,0.000,2379,2341,3358,0,0,0,0,0,0
$GC,1082,-1.32,-146.0,123.5,-10.0,110,1087,0.00,2.85,0.00,0.000,4,0.000,0.000,2379,815,3354,0,0,1,0,0,0
$GC,1110,-1.32,-146.0,126.3,-10.3,112,1114,0.00,2.67,0.00,0.000,6,0.000,0.000,2375,2302,3355,0,0,2,0,0,0
$GC,1434,-1.32,-146.0,158.7,-10.0,142,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2294,3351,0,0,0,0,0,0
$GC,1753,-1.32,-146.0,189.8,-9.6,172,1759,0.00,2.72,0.00,0.000,4,0.000,0.000,2381,785,3356,0,0,3,0,0,0
$GC,1788,-1.32,-146.0,193.2,-9.9,175,1793,0.00,2.70,0.00,0.000,6,0.000,0.000,2385,2308,3359,0,0,2,0,0,0
$GC,2113,-1.32,-146.0,224.6,-9.7,205,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2306,3361,0,0,0,0,0,0
$GC,2431,-1.32,-146.0,255.1,-9.4,235,2436,0.00,2.72,0.00,0.000,4,0.000,0.000,2380,784,3353,0,0,2,0,0,0
$GC,2464,-1.32,-146.0,258.4,-9.5,237,2469,0.00,2.80,0.00,0.000,6,0.000,0.000,2377,2322,3353,0,0,0,0,0,0
$GC,2789,-1.32,-146.0,289.3,-9.5,268,2794,0.00,2.97,0.00,0.000,4,0.000,0.000,2385,801,3351,0,0,2,0,0,0
$GC,2817,-1.32,-146.0,291.9,-9.4,270,2822,0.00,2.70,0.00,0.000,6,0.000,0.000,2385,2341,3356,0,0,2,0,0,0
$GC,3142,-1.32,-146.0,322.8,-9.4,300,3146,0.00,2.78,0.00,0.000,4,0.000,0.000,2373,795,3354,0,0,0,0,0,0
$GC,3163,-1.32,-146.0,324.9,-9.6,301,3168,0.00,2.67,0.00,0.000,6,0.000,0.000,2374,2279,3354,0,0,1,0,0,0
$GC,3488,-1.32,-146.0,355.6,-9.6,332,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2285,3355,0,0,0,0,0,0
$GC,3807,-1.32,-146.0,385.7,-9.6,362,3811,0.00,2.65,0.00,0.000,4,0.000,0.000,2376,750,3349,0,0,2,0,0,0
$GC,3835,-1.32,-146.0,388.4,-9.6,364,3839,0.00,2.80,0.00,0.000,6,0.000,0.000,2378,2322,3353,0,0,2,0,0,0
$GC,4160,-1.32,-146.0,419.0,-9.4,394,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2319,3358,0,0,0,0,0,0
$GC,4478,-1.32,-146.0,448.9,-9.3,424,4483,0.00,2.92,0.00,0.000,4,0.000,0.000,2375,767,3358,0,0,1,0,0,0
$STATE,4492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4492,begin apogee
$GC,4502,-0.31,0.0,450.5,9.4,425,4652,1.10,0.00,145.32,0.001,6,0.000,0.000,2612,2378,2749,0,0,0,0,0,0
$STATE,4654,end apogee,CONTROL_FINISHED_OK
$STATE,4654,begin climb
$GC,4657,1.32,146.0,453.2,0.0,440,4810,1.70,2.45,142.88,0.001,4,0.000,0.000,2985,3742,2155,0,0,1,0,0,0
$GC,4838,1.32,146.0,429.7,17.0,457,4844,0.43,2.65,0.00,0.000,6,0.000,0.000,2921,2290,2159,0,0,2,0,0,0
$GC,5162,1.32,146.0,386.5,13.2,488,5164,0.20,0.00,0.00,0.000,6,0.000,0.000,2963,2295,2150,0,0,0,0,0,0
$GC,5482,1.32,146.0,336.6,15.6,518,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2297,2155,0,0,0,0,0,0
$GC,5802,1.32,146.0,286.6,15.6,548,5806,0.00,2.67,0.00,0.000,4,0.000,0.000,2960,3796,2155,0,0,0,0,0,0
$GC,5822,1.32,146.0,282.8,15.9,549,5828,0.00,2.78,0.00,0.000,6,0.000,0.000,2963,2340,2155,0,0,2,0,0,0
$GC,6147,1.32,146.0,232.2,15.6,580,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2332,2148,0,0,0,0,0,0
$GC,6468,1.32,146.0,182.7,15.3,610,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2330,2149,0,0,0,0,0,0
$GC,6787,1.32,146.0,133.8,15.1,640,6792,0.00,2.80,0.00,0.000,4,0.000,0.000,2963,884,2149,0,0,1,0,0,0
$GC,6808,1.32,146.0,130.1,15.4,641,6813,0.00,2.58,0.00,0.000,6,0.000,0.000,2958,2392,2147,0,0,1,0,0,0
$GC,7133,1.32,146.0,81.8,14.9,672,7135,0.40,0.00,0.00,0.000,6,0.000,0.000,2884,2391,2154,0,0,0,0,0,0
$GC,7453,1.32,146.0,49.0,10.1,702,7458,0.35,2.67,0.00,0.000,4,0.000,0.000,2955,905,2152,0,0,1,0,0,0
$GC,7486,1.32,146.0,44.6,13.4,704,7491,0.00,2.55,0.00,0.000,6,0.000,0.000,2955,2354,2152,0,0,0,0,0,0
$GC,7685,1.32,146.0,19.2,12.8,723,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2346,2152,0,0,0,0,0,0
$GC,7758,1.32,146.0,9.7,12.4,736,7762,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2354,2153,0,0,0,0,0,0
$STATE,7817,end climb,SURFACE_DEPTH_REACHED
$STATE,7817,begin surface coast
$FINISH,-0.0,1.026581
$STATE,7835,end surface coast,CONTROL_FINISHED_OK
$STATE,7835,begin surface
$SM_CCo,7860,67.18,0.001,0,0,1732,250.21
$SM_GC,-0.00,0.00,0.00,67.18,0.000,0.000,0.001,331,2264,1732,-10.71,1.05,250.21
$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,1079006863
$INTERNAL_PRESSURE,16.0748
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.9,999.0
$24V_AH,24.1,112.402
$10V_AH,10.7,27.170
$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,28.625,78.275,288.200,67.175,0.000,0.000,0.000,82.236,9.750,0.000,29.753,1270.637,5398.460,479.575,724.814,296.386,0.000,1074.421,0.000,596.051,1440.000,56.425,0.000
$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,600.433,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129584
$DATA_FILE_SIZE,25296,750
$CAP_FILE_SIZE,92325,0
$CFSIZE,260165632,242364416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,37,0,0
$SOUNDSPEED,1470.9
$GPS,091009,142934,6700.308,-5806.477,31,1.1,31,18.0