version: 66.07
glider: 99
mission: 63
dive: 304
start: 10 12 109 1 53 11
data:
$ID,99
$MISSION,63
$DIVE,304
$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,-825145.75
$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,54
$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
$GPS1,014853,6704.282,-5655.783,30,1.1,30,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,015249,6704.282,-5655.783,28,1.1,28,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_ADD4_WB
$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,233.0,30036,-18.1,-10.000
$D_GRID,552
$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,-53.45,0.000,6,0.000,0.000,308,2214,3349,0,0,0,0,0,0
$GC,75,-1.32,-146.0,3.5,-17.3,11,90,10.43,2.60,0.00,0.000,4,0.000,0.000,2412,858,3350,1,0,5,0,0,0
$GC,269,-1.32,-146.0,31.2,-9.7,36,275,0.73,3.00,0.00,0.000,6,0.000,0.000,2333,2471,3345,1,0,3,0,0,0
$GC,467,-1.32,-146.0,64.0,-16.3,55,473,0.68,3.03,0.00,0.000,4,0.000,0.000,2404,767,3346,0,0,4,0,0,0
$GC,500,-1.32,-146.0,67.8,-9.0,57,507,0.32,2.85,0.00,0.000,6,0.000,0.000,2339,2343,3348,0,0,1,0,0,0
$GC,825,-1.32,-146.0,105.6,-11.6,88,831,0.32,2.83,0.00,0.000,4,0.000,0.000,2374,806,3345,0,0,2,0,0,0
$GC,853,-1.32,-146.0,108.5,-10.1,90,858,0.00,2.70,0.00,0.000,6,0.000,0.000,2377,2354,3348,0,0,1,0,0,0
$GC,1178,-1.32,-146.0,140.0,-9.5,120,1183,0.00,2.80,0.00,0.000,4,0.000,0.000,2375,763,3342,0,0,1,0,0,0
$GC,1210,-1.32,-146.0,143.2,-9.9,122,1216,0.00,3.17,0.00,0.000,6,0.000,0.000,2377,2435,3349,0,0,3,0,0,0
$GC,1535,-1.32,-146.0,174.3,-9.7,153,1540,0.00,3.15,0.00,0.000,4,0.000,0.000,2375,782,3348,0,0,2,0,0,0
$GC,1579,-1.32,-146.0,178.5,-9.7,156,1584,0.00,2.75,0.00,0.000,6,0.000,0.000,2375,2322,3344,0,0,1,0,0,0
$GC,1904,-1.32,-146.0,209.3,-9.4,187,1908,0.00,2.85,0.00,0.000,4,0.000,0.000,2377,676,3345,0,0,0,0,0,0
$GC,1932,-1.32,-146.0,212.0,-9.3,189,1937,0.00,3.20,0.00,0.000,6,0.000,0.000,2374,2340,3345,0,0,2,0,0,0
$GC,2256,-1.32,-146.0,242.7,-9.5,219,2261,0.00,2.78,0.00,0.000,4,0.000,0.000,2375,773,3343,0,0,1,0,0,0
$GC,2277,-1.32,-146.0,244.8,-9.5,220,2282,0.00,2.90,0.00,0.000,6,0.000,0.000,2374,2292,3351,0,0,2,0,0,0
$GC,2602,-1.32,-146.0,275.4,-9.3,251,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2298,3349,0,0,0,0,0,0
$GC,2921,-1.32,-146.0,305.4,-9.4,281,2926,0.00,2.83,0.00,0.000,4,0.000,0.000,2375,718,3342,0,0,1,0,0,0
$GC,2954,-1.32,-146.0,308.6,-9.6,283,2959,0.00,3.03,0.00,0.000,6,0.000,0.000,2376,2366,3347,0,0,1,0,0,0
$GC,3278,-1.32,-146.0,339.0,-9.4,314,3283,0.00,3.03,0.00,0.000,4,0.000,0.000,2378,706,3345,0,0,0,0,0,0
$GC,3306,-1.32,-146.0,341.6,-9.6,316,3311,0.00,3.28,0.00,0.000,6,0.000,0.000,2374,2542,3343,0,0,1,0,0,0
$GC,3631,-1.32,-146.0,372.0,-9.3,346,3636,0.00,3.17,0.00,0.000,4,0.000,0.000,2380,625,3348,0,0,5,0,0,0
$GC,3698,-1.32,-146.0,378.3,-9.2,351,3703,0.00,3.28,0.00,0.000,6,0.000,0.000,2383,2341,3346,0,0,2,0,0,0
$GC,4023,-1.32,-146.0,408.6,-9.3,382,4028,0.00,3.12,0.00,0.000,4,0.000,0.000,2378,594,3345,0,0,2,0,0,0
$GC,4044,-1.32,-146.0,410.7,-9.3,383,4050,0.00,3.12,0.00,0.000,6,0.000,0.000,2381,2313,3346,0,0,0,0,0,0
$GC,4370,-1.32,-146.0,440.9,-9.2,414,4374,0.00,2.78,0.00,0.000,4,0.000,0.000,2376,785,3354,0,0,0,0,0,0
$GC,4391,-1.32,-146.0,443.0,-9.3,415,4396,0.00,2.78,0.00,0.000,6,0.000,0.000,2367,2352,3349,0,0,1,0,0,0
$STATE,4469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4469,begin apogee
$GC,4475,-0.31,0.0,450.4,9.4,423,4622,1.17,0.00,142.73,0.001,6,0.000,0.000,2618,2347,2752,0,0,0,0,0,0
$STATE,4625,end apogee,CONTROL_FINISHED_OK
$STATE,4626,begin climb
$GC,4628,1.32,146.0,452.3,0.0,438,4779,1.75,0.00,143.45,0.001,6,0.000,0.000,2967,2346,2151,1,0,0,0,0,0
$GC,5094,1.32,146.0,385.0,16.3,483,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2351,2153,0,0,0,0,0,0
$GC,5414,1.32,146.0,333.8,16.2,513,5416,0.28,0.00,0.00,0.000,6,0.000,0.000,2926,2344,2154,0,0,0,0,0,0
$GC,5730,1.32,146.0,291.3,13.3,543,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2351,2153,0,0,0,0,0,0
$GC,6052,1.32,146.0,249.1,13.2,573,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2343,2160,0,0,0,0,0,0
$GC,6380,1.32,146.0,205.8,13.1,604,6384,0.00,2.62,0.00,0.000,4,0.000,0.000,2925,844,2154,0,0,0,0,0,0
$GC,6401,1.32,146.0,202.3,13.6,605,6408,0.57,2.78,0.03,0.000,6,0.000,0.000,3046,2553,2152,1,0,3,0,0,0
$GC,6726,1.32,146.0,133.5,21.3,636,6732,0.68,3.03,0.00,0.000,4,0.000,0.000,2921,887,2156,0,0,1,0,0,0
$GC,6782,1.32,146.0,125.4,12.8,640,6788,0.25,2.90,0.00,0.000,6,0.000,0.000,2986,2394,2152,0,0,2,0,0,0
$GC,7107,1.32,146.0,70.3,16.9,671,7109,0.40,0.00,0.00,0.000,6,0.000,0.000,2912,2390,2153,0,0,0,0,0,0
$GC,7426,1.32,146.0,33.0,11.1,701,7431,0.32,2.67,0.00,0.000,4,0.000,0.000,2978,906,2152,0,0,0,0,0,0
$GC,7458,1.32,146.0,28.3,14.4,703,7464,0.62,2.88,0.00,0.000,6,0.000,0.000,2912,2576,2153,1,0,2,0,0,0
$GC,7661,1.39,203.5,12.5,7.4,730,7712,0.65,3.15,41.42,0.001,4,0.000,0.000,2981,873,1915,0,0,1,0,0,0
$STATE,7729,end climb,SURFACE_DEPTH_REACHED
$STATE,7729,begin surface coast
$FINISH,-0.0,1.026778
$STATE,7738,end surface coast,CONTROL_FINISHED_OK
$STATE,7738,begin surface
$SM_CCo,7765,30.40,0.001,0,0,1731,250.21
$SM_GC,-0.00,0.00,0.00,30.40,0.000,0.000,0.001,341,2299,1731,-10.68,1.84,250.21
$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,1078760635
$INTERNAL_PRESSURE,15.8795
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.0,999.0
$24V_AH,24.1,118.975
$10V_AH,10.7,28.213
$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,32.425,93.625,327.625,30.400,0.000,0.000,0.000,82.530,9.750,0.000,30.390,1246.026,5261.450,500.019,724.900,298.967,0.000,1091.559,0.000,603.755,0.000,56.227,0.000
$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,593.293,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129516
$DATA_FILE_SIZE,22122,745
$CAP_FILE_SIZE,93552,0
$CFSIZE,260165632,241250304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,51,0,0
$SOUNDSPEED,1471.6
$GPS,121009,040414,6703.596,-5657.792,16,1.1,16,18.0