version: 66.07
glider: 99
mission: 63
dive: 302
start: 10 11 109 21 13 43
data:
$ID,99
$MISSION,63
$DIVE,302
$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,-825082.12
$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
$GPS1,210938,6704.609,-5701.348,18,1.1,18,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,211322,6704.609,-5701.348,13,1.1,13,18.0
$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,89.2,10089,-18.1,-10.000
$D_GRID,592
$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,-146.0,0.0,0.0,0,71,0.00,0.00,-53.60,0.000,6,0.000,0.000,344,2161,3345,0,0,0,0,0,0
$GC,75,-1.32,-146.0,3.1,-14.6,11,90,10.40,2.95,0.00,0.000,4,0.000,0.000,2383,3714,3350,1,0,1,0,0,0
$GC,124,-1.32,-146.0,16.5,-11.6,20,129,0.00,3.28,0.00,0.000,6,0.000,0.000,2384,1977,3346,0,0,1,0,0,0
$GC,200,-1.32,-146.0,25.2,-11.6,30,201,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1975,3348,0,0,0,0,0,0
$GC,392,-1.32,-146.0,46.5,-10.9,48,397,0.00,3.10,0.00,0.000,4,0.000,0.000,2379,3759,3346,0,0,1,0,0,0
$GC,431,-1.32,-146.0,50.8,-11.0,51,436,0.00,2.90,0.00,0.000,6,0.000,0.000,2380,2164,3341,0,0,1,0,0,0
$GC,756,-1.32,-146.0,83.7,-10.0,81,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2160,3343,0,0,0,0,0,0
$GC,1074,-1.32,-146.0,114.7,-9.7,111,1079,0.00,3.00,0.00,0.000,4,0.000,0.000,2386,3791,3344,0,0,4,0,0,0
$GC,1102,-1.32,-146.0,117.4,-9.7,113,1107,0.00,3.22,0.00,0.000,6,0.000,0.000,2384,2052,3346,0,0,2,0,0,0
$GC,1428,-1.32,-146.0,148.5,-9.5,143,1433,0.00,3.12,0.00,0.000,4,0.000,0.000,2381,3655,3352,0,0,2,0,0,0
$GC,1468,-1.32,-146.0,152.4,-9.6,146,1472,0.00,2.80,0.00,0.000,6,0.000,0.000,2383,1945,3348,0,0,3,0,0,0
$GC,1792,-1.32,-146.0,183.1,-9.4,176,1797,0.00,3.05,0.00,0.000,4,0.000,0.000,2376,3668,3346,0,0,0,0,0,0
$GC,1854,-1.32,-146.0,188.9,-9.6,181,1859,0.00,2.95,0.00,0.000,6,0.000,0.000,2380,2162,3345,0,0,1,0,0,0
$GC,2179,-1.32,-146.0,219.5,-9.4,211,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2170,3351,0,0,0,0,0,0
$GC,2498,-1.32,-146.0,249.4,-9.4,241,2502,0.00,2.88,0.00,0.000,4,0.000,0.000,2379,3762,3350,0,0,0,0,0,0
$GC,2519,-1.32,-146.0,251.5,-9.5,242,2524,0.00,2.97,0.00,0.000,6,0.000,0.000,2378,2144,3343,0,0,1,0,0,0
$GC,2843,-1.32,-146.0,281.7,-9.4,273,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2142,3347,0,0,0,0,0,0
$GC,3162,-1.32,-146.0,311.4,-9.3,303,3167,0.00,2.95,0.00,0.000,4,0.000,0.000,2376,3792,3342,0,0,3,0,0,0
$GC,3202,-1.32,-146.0,315.0,-9.2,306,3206,0.00,3.03,0.00,0.000,6,0.000,0.000,2388,2150,3346,0,0,0,0,0,0
$GC,3526,-1.32,-146.0,345.2,-9.2,336,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2153,3346,0,0,0,0,0,0
$GC,3845,-1.32,-146.0,374.8,-9.3,366,3849,0.00,2.70,0.00,0.000,4,0.000,0.000,2380,3656,3352,0,0,0,0,0,0
$GC,3872,-1.32,-146.0,377.3,-9.2,368,3877,0.00,2.72,0.00,0.000,6,0.000,0.000,2378,2101,3347,0,0,0,0,0,0
$GC,4197,-1.32,-146.0,407.3,-9.2,398,4201,0.00,2.88,0.00,0.000,4,0.000,0.000,2377,3697,3349,0,0,0,0,0,0
$GC,4225,-1.32,-146.0,409.9,-9.1,400,4229,0.00,2.70,0.00,0.000,6,0.000,0.000,2377,2162,3346,0,0,1,0,0,0
$GC,4550,-1.32,-146.0,439.8,-9.1,430,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2166,3345,0,0,0,0,0,0
$STATE,4663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4664,begin apogee
$GC,4671,-0.31,0.0,450.6,9.1,441,4818,1.12,0.00,143.20,0.001,6,0.000,0.000,2599,2376,2750,0,0,0,0,0,0
$STATE,4821,end apogee,CONTROL_FINISHED_OK
$STATE,4821,begin climb
$GC,4824,1.32,146.0,453.0,0.0,456,4973,1.83,0.00,143.50,0.001,6,0.000,0.000,2967,2369,2160,0,0,0,0,0,0
$GC,5289,1.32,146.0,384.0,16.1,501,5291,0.32,0.00,0.00,0.000,6,0.000,0.000,2893,2373,2154,0,0,0,0,0,0
$GC,5608,1.32,146.0,346.8,11.6,531,5613,0.47,2.80,0.00,0.000,4,0.000,0.000,2959,817,2152,1,0,1,0,0,0
$GC,5636,1.32,146.0,342.7,15.4,533,5641,0.00,3.05,0.00,0.000,6,0.000,0.000,2951,2528,2151,0,0,1,0,0,0
$GC,5960,1.32,146.0,292.0,15.8,563,5965,0.00,3.08,0.00,0.000,4,0.000,0.000,2964,829,2152,0,0,0,0,0,0
$GC,6004,1.32,146.0,285.0,16.1,566,6009,0.00,2.88,0.00,0.000,6,0.000,0.000,2953,2424,2154,0,0,1,0,0,0
$GC,6328,1.32,146.0,234.5,15.8,597,6333,0.00,2.83,0.00,0.000,4,0.000,0.000,2959,828,2156,0,0,0,0,0,0
$GC,6349,1.32,146.0,231.1,15.7,598,6354,0.00,2.90,0.00,0.000,6,0.000,0.000,2958,2448,2155,0,0,1,0,0,0
$GC,6674,1.32,146.0,180.7,15.5,629,6678,0.00,2.97,0.00,0.000,4,0.000,0.000,2961,729,2157,0,0,2,0,0,0
$GC,6701,1.32,146.0,176.4,16.0,631,6706,0.00,2.92,0.00,0.000,6,0.000,0.000,2961,2395,2156,0,0,1,0,0,0
$GC,7025,1.32,146.0,126.3,15.5,661,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2389,2152,0,0,0,0,0,0
$GC,7348,1.32,146.0,77.7,15.0,691,7352,0.00,2.67,0.00,0.000,4,0.000,0.000,2961,849,2150,0,0,2,0,0,0
$GC,7375,1.32,146.0,73.0,15.3,693,7380,0.00,2.75,0.00,0.000,6,0.000,0.000,2962,2452,2160,0,0,1,0,0,0
$GC,7699,1.32,146.0,26.7,13.6,723,7704,0.00,2.97,0.00,0.000,4,0.000,0.000,2952,840,2150,0,0,1,0,0,0
$GC,7727,1.32,146.0,23.1,13.1,725,7731,0.00,2.80,0.00,0.000,6,0.000,0.000,2957,2426,2159,0,0,0,0,0,0
$STATE,7888,end climb,SURFACE_DEPTH_REACHED
$STATE,7888,begin surface coast
$FINISH,-0.0,1.026780
$STATE,7898,end surface coast,CONTROL_FINISHED_OK
$STATE,7898,begin surface
$SM_CCo,7923,67.30,0.001,0,0,1724,250.21
$SM_GC,-0.00,0.00,0.00,67.30,0.000,0.000,0.001,344,2180,1724,-10.62,-1.50,250.21
$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,1078770958
$INTERNAL_PRESSURE,15.8893
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.2,999.0
$24V_AH,24.1,118.479
$10V_AH,10.7,28.134
$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,27.275,88.775,286.700,67.300,0.000,0.000,0.000,82.610,9.750,0.000,16.651,1242.720,5477.234,488.618,711.146,301.301,0.000,1076.907,0.000,601.746,0.000,55.770,0.000
$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,607.555,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129492
$DATA_FILE_SIZE,22130,753
$CAP_FILE_SIZE,91430,0
$CFSIZE,260165632,241332224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,34,0,0
$SOUNDSPEED,1471.6
$GPS,111009,232815,6704.467,-5658.573,22,1.1,22,18.0