version: 66.07
glider: 99
mission: 63
dive: 333
start: 10 14 109 20 42 51
data:
$ID,99
$MISSION,63
$DIVE,333
$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,-825897.81
$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,5
$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
$GPS1,203848,6652.739,-5809.393,32,1.1,32,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-70.0
$GPS2,204230,6652.739,-5809.393,10,1.1,10,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_ADD3_WB
$TGT_LATLONG,6655.000,-5823.000
$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,275.0,10731,-18.1,-10.000
$D_GRID,862
$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,-146.0,0.0,0.0,0,70,0.00,0.00,-52.17,0.000,2,0.000,0.000,337,2031,3310,0,0,0,0,0,0
$GC,73,-1.32,-146.0,3.2,-15.8,10,91,10.12,3.03,-1.25,0.000,4,0.000,0.000,2379,3673,3346,0,0,1,0,0,0
$GC,171,-1.32,-146.0,22.8,-12.0,25,176,0.00,2.53,0.00,0.000,6,0.000,0.000,2381,2159,3346,0,0,1,0,0,0
$GC,368,-1.32,-146.0,45.7,-11.3,44,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2158,3348,0,0,0,0,0,0
$GC,559,-1.32,-146.0,66.7,-10.7,62,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2167,3347,0,0,0,0,0,0
$GC,878,-1.32,-146.0,100.3,-10.5,92,883,0.00,2.88,0.00,0.000,4,0.000,0.000,2379,3793,3343,0,0,0,0,0,0
$GC,905,-1.32,-146.0,103.1,-10.4,94,910,0.00,3.03,0.00,0.000,6,0.000,0.000,2378,2098,3345,0,0,2,0,0,0
$GC,1230,-1.32,-146.0,136.0,-10.0,124,1235,0.00,2.97,0.00,0.000,4,0.000,0.000,2372,3727,3345,0,0,2,0,0,0
$GC,1251,-1.32,-146.0,138.3,-10.3,125,1256,0.00,3.17,0.00,0.000,6,0.000,0.000,2372,2014,3347,0,0,2,0,0,0
$GC,1577,-1.32,-146.0,170.2,-9.9,156,1582,0.00,3.00,0.00,0.000,4,0.000,0.000,2379,3686,3342,0,0,0,0,0,0
$GC,1628,-1.32,-146.0,175.2,-9.5,160,1633,0.00,3.20,0.00,0.000,6,0.000,0.000,2379,1896,3345,0,0,3,0,0,0
$GC,1953,-1.32,-146.0,206.8,-9.7,190,1957,0.00,3.15,0.00,0.000,4,0.000,0.000,2378,3668,3343,0,0,0,0,0,0
$GC,2026,-1.32,-146.0,213.8,-9.8,196,2030,0.00,2.65,0.00,0.000,6,0.000,0.000,2382,2173,3339,0,0,1,0,0,0
$GC,2350,-1.32,-146.0,245.0,-9.5,226,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2165,3348,0,0,0,0,0,0
$GC,2669,-1.32,-146.0,275.4,-9.5,256,2673,0.00,2.90,0.00,0.000,4,0.000,0.000,2379,3792,3341,0,0,1,0,0,0
$GC,2690,-1.32,-146.0,277.5,-9.5,257,2695,0.00,3.00,0.00,0.000,6,0.000,0.000,2378,2111,3345,0,0,0,0,0,0
$GC,3015,-1.32,-146.0,308.3,-9.5,288,3019,0.00,3.12,0.00,0.000,4,0.000,0.000,2378,3703,3349,0,0,1,0,0,0
$GC,3043,-1.32,-146.0,311.0,-9.7,290,3048,0.00,3.03,0.00,0.000,6,0.000,0.000,2374,1962,3351,0,0,3,0,0,0
$GC,3367,-1.32,-146.0,341.8,-9.5,320,3372,0.00,3.12,0.00,0.000,4,0.000,0.000,2381,3730,3341,0,0,1,0,0,0
$GC,3423,-1.32,-146.0,347.1,-9.7,324,3428,0.00,2.83,0.00,0.000,6,0.000,0.000,2372,2083,3346,0,0,2,0,0,0
$GC,3747,-1.32,-146.0,377.6,-9.4,355,3752,0.00,2.95,0.00,0.000,4,0.000,0.000,2372,3714,3343,0,0,1,0,0,0
$GC,3780,-1.32,-146.0,380.8,-9.4,357,3785,0.00,2.97,0.00,0.000,6,0.000,0.000,2378,2148,3350,0,0,2,0,0,0
$GC,4105,-1.32,-146.0,411.2,-9.5,388,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2160,3353,0,0,0,0,0,0
$GC,4423,-1.32,-146.0,441.1,-9.5,418,4428,0.00,2.83,0.00,0.000,4,0.000,0.000,2368,3718,3344,0,0,0,0,0,0
$GC,4452,-1.32,-146.0,443.8,-9.4,420,4456,0.00,2.75,0.00,0.000,6,0.000,0.000,2380,2118,3347,0,0,0,0,0,0
$STATE,4519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4519,begin apogee
$GC,4526,-0.31,0.0,450.3,9.4,426,4674,1.15,0.00,143.98,0.001,6,0.000,0.000,2608,2452,2745,0,0,0,0,0,0
$STATE,4677,end apogee,CONTROL_FINISHED_OK
$STATE,4677,begin climb
$GC,4680,1.32,146.0,452.7,0.0,441,4833,1.70,2.30,142.00,0.001,4,0.000,0.000,2968,3676,2154,0,0,1,0,0,0
$GC,4849,1.32,146.0,432.6,15.8,457,4855,0.00,2.60,0.00,0.000,6,0.000,0.000,2960,2216,2156,0,0,0,0,0,0
$GC,5174,1.32,146.0,380.5,16.3,488,5179,0.25,2.95,0.00,0.000,4,0.000,0.000,2921,3689,2154,0,0,3,0,0,0
$GC,5202,1.32,146.0,376.7,13.0,490,5206,0.00,2.60,0.00,0.000,6,0.000,0.000,2921,2185,2155,0,0,2,0,0,0
$GC,5526,1.32,146.0,333.9,13.4,520,5531,0.00,2.65,0.00,0.000,4,0.000,0.000,2920,3689,2151,0,0,3,0,0,0
$GC,5558,1.32,146.0,329.5,13.6,522,5563,0.00,2.65,0.00,0.000,6,0.000,0.000,2921,2263,2153,0,0,2,0,0,0
$GC,5883,1.32,146.0,286.9,13.2,553,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2264,2150,0,0,0,0,0,0
$GC,6204,1.32,146.0,245.1,13.1,583,6209,0.22,3.17,0.00,0.000,4,0.000,0.000,2983,3712,2148,0,0,3,0,0,0
$GC,6232,1.32,146.0,240.3,16.6,585,6238,0.40,2.97,0.00,0.000,6,0.000,0.000,2916,2165,2156,0,0,2,0,0,0
$GC,6556,1.32,146.0,199.6,12.6,615,6562,0.32,2.75,0.00,0.000,4,0.000,0.000,2959,3738,2153,0,0,2,0,0,0
$GC,6596,1.32,146.0,193.9,14.8,618,6600,0.00,2.78,0.00,0.000,6,0.000,0.000,2959,2220,2157,0,0,2,0,0,0
$GC,6920,1.32,146.0,145.6,15.0,648,6924,0.00,2.65,0.00,0.000,4,0.000,0.000,2952,3717,2150,0,0,0,0,0,0
$GC,6947,1.32,146.0,141.5,15.0,650,6952,0.00,2.67,0.00,0.000,6,0.000,0.000,2954,2215,2153,0,0,2,0,0,0
$GC,7272,1.32,146.0,94.3,14.2,680,7276,0.00,2.62,0.00,0.000,4,0.000,0.000,2951,3697,2151,0,0,0,0,0,0
$GC,7292,1.32,146.0,91.1,14.5,681,7298,0.00,2.58,0.00,0.000,6,0.000,0.000,2951,2231,2153,0,0,2,0,0,0
$GC,7617,1.32,146.0,46.1,13.4,712,7622,0.00,2.55,0.00,0.000,4,0.000,0.000,2945,3653,2151,0,0,0,0,0,0
$GC,7645,1.32,146.0,42.4,13.4,714,7649,0.00,2.45,0.00,0.000,6,0.000,0.000,2947,2259,2151,0,0,1,0,0,0
$GC,7844,1.32,146.0,17.0,13.0,734,7848,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2257,2147,0,0,0,0,0,0
$GC,7916,1.32,146.0,7.8,12.6,747,7920,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2260,2154,0,0,0,0,0,0
$STATE,7964,end climb,SURFACE_DEPTH_REACHED
$STATE,7964,begin surface coast
$FINISH,-0.0,1.026595
$STATE,7982,end surface coast,CONTROL_FINISHED_OK
$STATE,7982,begin surface
$SM_CCo,8006,67.38,0.001,0,0,1732,250.21
$SM_GC,-0.00,0.00,0.00,67.38,0.000,0.000,0.001,329,2180,1732,-10.66,-1.27,250.21
$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,0.032214
$HUMID,1078982571
$INTERNAL_PRESSURE,15.8014
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.2,999.0
$24V_AH,24.1,126.107
$10V_AH,10.7,29.353
$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,27.300,102.750,285.975,67.375,0.000,0.000,0.000,82.660,9.750,0.000,12.535,1275.558,5484.460,490.636,741.604,310.797,0.000,1119.431,0.000,625.534,720.000,53.924,0.000
$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,609.851,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129580
$DATA_FILE_SIZE,25280,759
$CAP_FILE_SIZE,98628,0
$CFSIZE,260165632,240001024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,48,0,0
$SOUNDSPEED,1470.7
$GPS,141009,225843,6652.798,-5812.183,17,1.1,17,18.0