version: 66.07
glider: 99
mission: 63
dive: 310
start: 10 12 109 15 31 43
data:
$ID,99
$MISSION,63
$DIVE,310
$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,-825300.38
$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,45
$R_STBD_OVSHOOT,0
$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
$GPS1,152732,6700.534,-5709.132,16,1.1,17,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,153121,6700.534,-5709.132,19,1.1,19,18.0
$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,243.4,18946,-18.1,-10.000
$D_GRID,740
$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,-53.62,0.000,6,0.000,0.000,333,2257,3345,0,0,0,0,0,0
$GC,74,-1.32,-146.0,3.2,-15.7,11,90,10.23,2.60,0.00,0.000,4,0.000,0.000,2397,678,3347,1,0,2,0,0,0
$GC,107,-1.32,-146.0,14.6,-22.3,17,113,0.30,3.05,0.00,0.000,6,0.000,0.000,2343,2338,3351,0,0,1,0,0,0
$GC,184,-1.32,-146.0,24.5,-13.3,28,185,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2348,3349,0,0,0,0,0,0
$GC,376,-1.32,-146.0,49.0,-12.5,46,378,0.25,0.00,0.00,0.000,6,0.000,0.000,2395,2344,3349,0,0,0,0,0,0
$GC,567,-1.32,-146.0,68.2,-9.8,64,572,0.00,3.15,0.00,0.000,4,0.000,0.000,2387,718,3351,0,0,3,0,0,0
$GC,599,-1.32,-146.0,71.5,-9.8,66,604,0.00,3.00,0.00,0.000,6,0.000,0.000,2385,2329,3351,0,0,2,0,0,0
$GC,924,-1.32,-146.0,102.4,-9.4,97,929,0.00,3.08,0.00,0.000,4,0.000,0.000,2390,783,3350,0,0,2,0,0,0
$GC,952,-1.32,-146.0,105.0,-9.5,99,958,0.30,2.72,0.00,0.000,6,0.000,0.000,2347,2342,3348,0,0,2,0,0,0
$GC,1276,-1.32,-146.0,141.2,-11.3,129,1282,0.22,2.92,0.00,0.000,4,0.000,0.000,2389,686,3346,0,0,1,0,0,0
$GC,1305,-1.32,-146.0,144.0,-9.5,131,1310,0.00,2.90,0.00,0.000,6,0.000,0.000,2384,2313,3350,0,0,1,0,0,0
$GC,1629,-1.32,-146.0,173.9,-9.2,161,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2308,3345,0,0,0,0,0,0
$GC,1951,-1.32,-146.0,203.0,-9.1,191,1956,0.00,2.65,0.00,0.000,4,0.000,0.000,2391,810,3345,0,0,1,0,0,0
$GC,1984,-1.32,-146.0,206.3,-9.1,193,1989,0.00,2.75,0.00,0.000,6,0.000,0.000,2399,2356,3347,0,0,1,0,0,0
$GC,2310,-1.32,-146.0,235.6,-9.1,224,2318,0.00,2.88,0.00,0.000,4,0.000,0.000,2389,626,3340,0,0,0,0,0,0
$GC,2340,-1.32,-146.0,238.5,-8.7,226,2346,0.32,3.10,0.00,0.000,6,0.000,0.000,2327,2375,3348,0,0,2,0,0,0
$GC,2664,-1.32,-146.0,274.8,-11.2,257,2669,0.38,3.03,0.00,0.000,4,0.000,0.000,2410,695,3351,0,0,1,0,0,0
$GC,2693,-1.32,-146.0,277.5,-9.0,259,2698,0.28,2.97,0.00,0.000,6,0.000,0.000,2359,2345,3343,0,0,0,0,0,0
$GC,3018,-1.32,-146.0,310.5,-10.3,289,3022,0.00,2.85,0.00,0.000,4,0.000,0.000,2363,738,3346,0,0,0,0,0,0
$GC,3045,-1.32,-146.0,313.4,-10.3,291,3050,0.00,2.92,0.00,0.000,6,0.000,0.000,2359,2308,3346,0,0,1,0,0,0
$GC,3369,-1.32,-146.0,346.4,-10.2,321,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2306,3349,0,0,0,0,0,0
$GC,3690,-1.32,-146.0,378.9,-10.0,351,3694,0.00,2.80,0.00,0.000,4,0.000,0.000,2364,759,3346,0,0,0,0,0,0
$GC,3722,-1.32,-146.0,382.4,-10.0,353,3727,0.00,2.70,0.00,0.000,6,0.000,0.000,2360,2335,3350,0,0,0,0,0,0
$GC,4047,-1.32,-146.0,415.3,-10.1,384,4051,0.00,2.92,0.00,0.000,4,0.000,0.000,2359,692,3349,0,0,1,0,0,0
$GC,4074,-1.32,-146.0,418.1,-10.1,386,4079,0.00,3.00,0.00,0.000,6,0.000,0.000,2360,2336,3341,0,0,2,0,0,0
$STATE,4396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4396,begin apogee
$GC,4403,-0.31,0.0,450.9,10.2,416,4551,1.60,0.00,143.52,0.001,6,0.000,0.000,2638,2327,2753,1,0,0,0,0,0
$STATE,4554,end apogee,CONTROL_FINISHED_OK
$STATE,4554,begin climb
$GC,4557,1.32,146.0,453.0,0.0,431,4710,1.58,2.88,143.32,0.001,4,0.000,0.000,2981,3782,2149,0,0,2,0,0,0
$GC,4734,1.32,146.0,431.1,16.9,448,4743,0.43,2.72,0.00,0.000,6,0.000,0.000,2912,2272,2152,0,0,1,0,0,0
$GC,5062,1.32,146.0,388.5,13.0,479,5064,0.32,0.00,0.00,0.000,6,0.000,0.000,2979,2263,2151,0,0,0,0,0,0
$GC,5381,1.32,146.0,336.3,16.4,509,5386,0.50,2.50,0.00,0.000,4,0.000,0.000,2931,3662,2152,1,0,0,0,0,0
$GC,5413,1.32,146.0,331.3,14.1,511,5419,0.00,2.62,0.00,0.000,6,0.000,0.000,2933,2299,2148,0,0,1,0,0,0
$GC,5738,1.32,146.0,286.6,13.9,542,5739,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2277,2148,0,0,0,0,0,0
$GC,6060,1.32,146.0,242.7,13.6,572,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2283,2149,0,0,0,0,0,0
$GC,6388,1.32,146.0,197.6,13.6,603,6393,0.00,2.67,0.00,0.000,4,0.000,0.000,2932,3694,2150,0,0,1,0,0,0
$GC,6417,1.32,146.0,193.2,14.3,605,6421,0.00,2.60,0.00,0.000,6,0.000,0.000,2928,2222,2150,0,0,2,0,0,0
$GC,6741,1.32,146.0,148.9,13.5,635,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2214,2153,0,0,0,0,0,0
$GC,7062,1.32,146.0,105.7,13.4,665,7066,0.00,2.80,0.00,0.000,4,0.000,0.000,2934,3679,2153,0,0,2,0,0,0
$GC,7112,1.32,146.0,98.7,13.2,669,7116,0.00,2.50,0.00,0.000,6,0.000,0.000,2928,2301,2151,0,0,2,0,0,0
$GC,7436,1.32,146.0,56.2,13.1,699,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2296,2149,0,0,0,0,0,0
$GC,7758,1.32,146.0,17.0,11.9,731,7762,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2304,2150,0,0,0,0,0,0
$GC,7831,1.32,146.0,8.0,11.8,744,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2299,2153,0,0,0,0,0,0
$STATE,7879,end climb,SURFACE_DEPTH_REACHED
$STATE,7879,begin surface coast
$FINISH,-0.0,1.026831
$STATE,7897,end surface coast,CONTROL_FINISHED_OK
$STATE,7897,begin surface
$SM_CCo,7921,66.97,0.001,0,0,1732,250.21
$SM_GC,-0.01,0.00,0.00,66.97,0.000,0.000,0.001,319,2211,1732,-10.75,-0.54,250.21
$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,1078705152
$INTERNAL_PRESSURE,15.8209
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.1,999.0
$24V_AH,24.1,120.430
$10V_AH,10.7,28.446
$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,29.675,79.475,286.850,66.975,0.000,0.000,0.000,82.292,9.750,0.000,22.029,1293.318,5423.779,481.319,728.442,299.045,0.000,1085.543,0.000,607.040,2160.000,56.407,0.000
$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,606.203,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129528
$DATA_FILE_SIZE,25237,756
$CAP_FILE_SIZE,94189,0
$CFSIZE,260165632,240996352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,34,0,0
$SOUNDSPEED,1471.1
$GPS,121009,174625,6659.930,-5711.489,34,1.1,34,18.0