version: 66.07
glider: 99
mission: 63
dive: 300
start: 10 11 109 16 43 2
data:
$ID,99
$MISSION,63
$DIVE,300
$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,-825052.81
$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,0
$R_STBD_OVSHOOT,7
$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
$GPS1,163845,6704.656,-5706.773,28,1.1,28,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,164241,6704.656,-5706.773,27,1.1,27,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,8000.000
$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,84.7,13900,-18.1,-10.000
$D_GRID,644
$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,-53.22,0.000,6,0.000,0.000,269,2235,3352,0,0,0,0,0,0
$GC,75,-1.32,-146.0,3.1,-13.3,10,89,10.57,0.00,0.00,0.000,6,0.000,0.000,2408,2238,3351,2,0,0,0,0,0
$GC,157,-1.32,-146.0,19.4,-9.8,25,162,0.60,0.00,0.00,0.000,6,0.000,0.000,2316,2241,3347,1,0,0,0,0,0
$GC,232,-1.32,-146.0,30.1,-14.7,33,234,0.35,0.00,0.00,0.000,6,0.000,0.000,2382,2240,3342,0,0,0,0,0,0
$GC,423,-1.32,-146.0,51.1,-10.7,51,428,0.00,2.83,0.00,0.000,4,0.000,0.000,2382,696,3347,0,0,1,0,0,0
$GC,445,-1.32,-146.0,53.5,-10.4,52,450,0.00,3.12,0.00,0.000,6,0.000,0.000,2389,2381,3351,0,0,4,0,0,0
$GC,770,-1.32,-146.0,86.1,-9.7,83,775,0.00,2.97,0.00,0.000,4,0.000,0.000,2383,692,3345,0,0,0,0,0,0
$GC,803,-1.32,-146.0,89.4,-9.8,85,807,0.00,2.88,0.00,0.000,6,0.000,0.000,2372,2311,3349,0,0,1,0,0,0
$GC,1128,-1.32,-146.0,120.7,-9.6,116,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2311,3341,0,0,0,0,0,0
$GC,1448,-1.32,-146.0,151.0,-9.4,146,1453,0.00,2.95,0.00,0.000,4,0.000,0.000,2384,695,3344,0,0,1,0,0,0
$GC,1488,-1.32,-146.0,154.8,-9.3,149,1493,0.00,3.58,0.00,0.000,6,0.000,0.000,2382,2531,3347,0,0,4,0,0,0
$GC,1812,-1.32,-146.0,185.4,-9.3,179,1817,0.00,3.28,0.00,0.000,4,0.000,0.000,2378,716,3342,0,0,0,0,0,0
$GC,1875,-1.32,-146.0,191.2,-9.3,184,1879,0.00,2.97,0.00,0.000,6,0.000,0.000,2382,2551,3344,0,0,4,0,0,0
$GC,2199,-1.32,-146.0,221.5,-9.2,214,2205,0.00,3.72,0.00,0.000,4,0.000,0.000,2382,553,3348,0,0,4,0,0,0
$GC,2262,-1.32,-146.0,227.3,-9.3,219,2267,0.00,3.20,0.00,0.000,6,0.000,0.000,2383,2348,3344,0,0,0,0,0,0
$GC,2586,-1.32,-146.0,257.5,-9.4,249,2591,0.00,2.90,0.00,0.000,4,0.000,0.000,2387,729,3349,0,0,0,0,0,0
$GC,2615,-1.32,-146.0,260.0,-9.5,251,2620,0.00,2.88,0.00,0.000,6,0.000,0.000,2380,2334,3346,0,0,1,0,0,0
$GC,2941,-1.32,-146.0,290.1,-9.3,281,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2328,3350,0,0,0,0,0,0
$GC,3258,-1.32,-146.0,319.5,-9.3,311,3263,0.00,2.83,0.00,0.000,4,0.000,0.000,2387,736,3341,0,0,1,0,0,0
$GC,3302,-1.32,-146.0,323.7,-9.2,314,3307,0.00,2.97,0.00,0.000,6,0.000,0.000,2382,2343,3344,0,0,2,0,0,0
$GC,3627,-1.32,-146.0,353.5,-9.3,345,3631,0.00,2.85,0.00,0.000,4,0.000,0.000,2384,729,3347,0,0,1,0,0,0
$GC,3648,-1.32,-146.0,355.5,-8.9,346,3653,0.00,2.85,0.00,0.000,6,0.000,0.000,2387,2311,3347,0,0,2,0,0,0
$GC,3972,-1.32,-146.0,385.2,-9.2,377,3977,0.00,2.85,0.00,0.000,4,0.000,0.000,2382,716,3342,0,0,0,0,0,0
$GC,3994,-1.32,-146.0,387.2,-9.2,378,3999,0.00,2.83,0.00,0.000,6,0.000,0.000,2384,2300,3348,0,0,1,0,0,0
$GC,4318,-1.32,-146.0,416.9,-9.1,409,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2306,3350,0,0,0,0,0,0
$GC,4637,-1.32,-146.0,446.0,-9.1,439,4642,0.00,2.83,0.00,0.000,4,0.000,0.000,2381,731,3349,0,0,0,0,0,0
$GC,4676,-1.32,-146.0,449.6,-9.1,442,4680,0.00,2.10,0.00,0.000,3,0.000,0.000,2375,1887,3343,0,0,1,0,0,0
$STATE,4681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4681,begin apogee
$GC,4689,-0.31,0.0,450.0,8.7,442,4836,1.23,0.00,143.27,0.001,6,0.000,0.000,2632,2436,2753,0,0,0,0,0,0
$STATE,4839,end apogee,CONTROL_FINISHED_OK
$STATE,4839,begin climb
$GC,4842,1.32,146.0,452.4,0.0,457,4991,1.98,0.00,143.40,0.001,6,0.000,0.000,3043,2435,2151,1,0,0,0,0,0
$GC,5307,1.32,146.0,362.8,21.2,502,5313,0.70,2.88,0.00,0.000,4,0.000,0.000,2910,823,2153,0,0,0,0,0,0
$GC,5340,1.32,146.0,357.9,12.0,504,5346,0.40,2.92,0.00,0.000,6,0.000,0.000,2971,2472,2153,0,0,1,0,0,0
$GC,5665,1.32,146.0,304.8,16.5,535,5671,0.35,3.17,0.00,0.000,4,0.000,0.000,2890,824,2154,0,0,2,0,0,0
$GC,5698,1.32,146.0,300.5,11.2,537,5704,0.43,2.75,0.00,0.000,6,0.000,0.000,2982,2408,2155,0,0,1,0,0,0
$GC,6023,1.32,146.0,245.3,17.2,568,6026,0.35,0.00,0.17,0.000,6,0.000,0.000,2917,2402,2154,0,0,0,0,0,0
$GC,6342,1.32,146.0,204.1,12.8,598,6347,0.35,2.95,0.00,0.000,4,0.000,0.000,2996,850,2152,0,0,3,0,0,0
$GC,6382,1.32,146.0,197.4,18.5,601,6387,0.45,2.97,0.00,0.000,6,0.000,0.000,2927,2448,2153,0,0,1,0,0,0
$GC,6706,1.32,146.0,153.5,13.3,631,6710,0.00,2.97,0.00,0.000,4,0.000,0.000,2927,815,2152,0,0,2,0,0,0
$GC,6726,1.32,146.0,150.6,13.3,632,6734,0.30,3.00,0.82,0.000,6,0.000,0.000,2982,2505,2155,0,0,3,0,0,0
$GC,7058,1.32,146.0,96.7,16.4,664,7064,0.43,3.12,0.00,0.000,4,0.000,0.000,2894,791,2156,0,0,0,0,0,0
$GC,7103,1.32,146.0,91.2,11.4,667,7109,0.30,3.10,0.00,0.000,6,0.000,0.000,2975,2433,2153,0,0,2,0,0,0
$GC,7427,1.32,146.0,42.0,14.7,698,7433,0.28,3.08,0.00,0.000,4,0.000,0.000,2929,753,2156,0,0,1,0,0,0
$GC,7449,1.32,146.0,39.1,12.7,699,7454,0.00,3.45,0.00,0.000,6,0.000,0.000,2926,2518,2156,0,0,2,0,0,0
$GC,7649,1.32,146.0,15.6,11.9,721,7653,0.00,3.03,0.00,0.000,4,0.000,0.000,2934,828,2157,0,0,2,0,0,0
$GC,7677,1.32,146.0,12.3,12.2,726,7682,0.00,3.35,0.00,0.000,6,0.000,0.000,2930,2434,2153,0,0,2,0,0,0
$GC,7750,1.32,146.0,3.7,11.5,739,7754,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2437,2146,0,0,0,0,0,0
$STATE,7763,end climb,SURFACE_DEPTH_REACHED
$STATE,7764,begin surface coast
$FINISH,-0.0,1.026799
$STATE,7782,end surface coast,CONTROL_FINISHED_OK
$STATE,7782,begin surface
$SM_CCo,7806,67.53,0.001,0,0,1724,250.21
$SM_GC,-0.00,0.00,0.00,67.53,0.000,0.000,0.001,293,2143,1724,-10.84,-2.40,250.21
$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,0.03068
$HUMID,1078764506
$INTERNAL_PRESSURE,15.9381
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.6,999.0
$24V_AH,24.1,117.996
$10V_AH,10.7,28.057
$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,32.250,103.650,287.675,67.525,0.000,0.000,0.000,82.352,9.750,0.000,30.170,1251.891,5306.839,509.237,733.707,307.095,0.000,1111.100,0.000,602.669,720.000,58.575,0.000
$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,598.342,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129568
$DATA_FILE_SIZE,22115,745
$CAP_FILE_SIZE,97489,0
$CFSIZE,260165632,241414144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,6,52,0,0
$SOUNDSPEED,1471.1
$GPS,111009,185514,6704.740,-5704.071,6,1.1,6,18.0