version: 66.07
glider: 99
mission: 63
dive: 339
start: 10 15 109 10 24 17
data:
$ID,99
$MISSION,63
$DIVE,339
$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,-826043
$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,84
$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
$GPS1,102003,6650.430,-5824.571,21,1.1,21,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-70.0
$GPS2,102357,6650.430,-5824.571,20,1.1,20,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_ADD2_WB
$TGT_LATLONG,6651.000,-5910.000
$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,253.8,33093,-18.1,-10.000
$D_GRID,820
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.32,-146.0,0.0,0.0,0,71,0.00,0.00,-53.20,0.000,6,0.000,0.000,334,2198,3341,0,0,0,0,0,0
$GC,75,-1.32,-146.0,3.6,-17.8,11,89,10.12,0.00,0.00,0.000,6,0.000,0.000,2383,2197,3344,1,0,0,0,0,0
$GC,162,-1.32,-146.0,21.8,-11.6,26,163,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2205,3336,0,0,0,0,0,0
$GC,353,-1.32,-146.0,43.7,-11.2,44,358,0.00,2.65,0.00,0.000,4,0.000,0.000,2381,3711,3341,0,0,1,0,0,0
$GC,374,-1.32,-146.0,46.1,-11.1,45,379,0.00,2.88,0.00,0.000,6,0.000,0.000,2380,2121,3339,0,0,1,0,0,0
$GC,571,-1.32,-146.0,67.3,-10.5,64,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2117,3343,0,0,0,0,0,0
$GC,894,-1.32,-146.0,100.3,-10.3,94,899,0.00,2.83,0.00,0.000,4,0.000,0.000,2384,3687,3338,0,0,1,0,0,0
$GC,933,-1.32,-146.0,104.6,-10.1,97,938,0.00,2.65,0.00,0.000,6,0.000,0.000,2382,2181,3340,0,0,1,0,0,0
$GC,1258,-1.32,-146.0,136.9,-9.9,127,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2186,3344,0,0,0,0,0,0
$GC,1577,-1.32,-146.0,167.8,-9.6,157,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2186,3343,0,0,0,0,0,0
$GC,1896,-1.32,-146.0,198.2,-9.5,187,1900,0.00,2.72,0.00,0.000,4,0.000,0.000,2384,3661,3339,0,0,0,0,0,0
$GC,1918,-1.32,-146.0,200.4,-9.5,188,1923,0.00,2.65,0.00,0.000,6,0.000,0.000,2382,2184,3344,0,0,0,0,0,0
$GC,2243,-1.32,-146.0,230.8,-9.5,219,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2188,3341,0,0,0,0,0,0
$GC,2561,-1.32,-146.0,260.6,-9.5,249,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2188,3340,0,0,0,0,0,0
$GC,2881,-1.32,-146.0,290.3,-9.2,279,2886,0.00,2.65,0.00,0.000,4,0.000,0.000,2378,3666,3339,0,0,2,0,0,0
$GC,2909,-1.32,-146.0,293.1,-9.1,281,2914,0.00,2.78,0.00,0.000,6,0.000,0.000,2376,2139,3343,0,0,2,0,0,0
$GC,3234,-1.32,-146.0,323.1,-9.4,311,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2136,3344,0,0,0,0,0,0
$GC,3552,-1.32,-146.0,352.5,-9.1,341,3557,0.00,2.72,0.00,0.000,4,0.000,0.000,2377,3676,3342,0,0,1,0,0,0
$GC,3592,-1.32,-146.0,356.1,-9.0,344,3596,0.00,2.62,0.00,0.000,6,0.000,0.000,2377,2212,3341,0,0,1,0,0,0
$GC,3916,-1.32,-146.0,385.9,-9.2,374,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2210,3341,0,0,0,0,0,0
$GC,4235,-1.32,-146.0,415.1,-9.0,404,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2207,3340,0,0,0,0,0,0
$GC,4553,-1.32,-146.0,444.2,-9.0,434,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2217,3347,0,0,0,0,0,0
$STATE,4615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4615,begin apogee
$GC,4621,-0.31,0.0,450.0,9.2,440,4769,1.20,0.00,143.32,0.001,6,0.000,0.000,2628,2403,2749,1,0,0,0,0,0
$STATE,4772,end apogee,CONTROL_FINISHED_OK
$STATE,4772,begin climb
$GC,4775,1.32,146.0,452.1,0.0,455,4923,1.67,0.00,141.85,0.001,6,0.000,0.000,2967,2405,2155,1,0,0,0,0,0
$GC,5237,1.32,146.0,383.9,16.4,499,5239,0.32,0.00,0.00,0.000,6,0.000,0.000,2908,2403,2155,0,0,0,0,0,0
$GC,5555,1.32,146.0,344.4,12.1,529,5561,0.32,2.70,0.00,0.000,4,0.000,0.000,2976,849,2155,0,0,0,0,0,0
$GC,5588,1.32,146.0,339.2,16.1,531,5594,0.55,3.10,0.00,0.000,6,0.000,0.000,2874,2495,2150,1,0,2,0,0,0
$GC,5913,1.32,146.0,305.7,10.3,562,5918,0.45,2.85,0.00,0.000,4,0.000,0.000,2999,903,2148,0,0,2,0,0,0
$GC,5957,1.32,146.0,298.3,18.0,565,5963,0.32,2.95,0.00,0.000,6,0.000,0.000,2929,2539,2152,0,0,2,0,0,0
$GC,6282,1.32,146.0,253.6,13.7,596,6286,0.00,2.97,0.00,0.000,4,0.000,0.000,2935,879,2154,0,0,1,0,0,0
$GC,6332,1.32,146.0,246.8,13.8,600,6336,0.00,3.05,0.00,0.000,6,0.000,0.000,2932,2538,2152,0,0,2,0,0,0
$GC,6656,1.32,146.0,202.6,13.7,630,6661,0.00,3.00,0.00,0.000,4,0.000,0.000,2926,815,2155,0,0,2,0,0,0
$GC,6699,1.32,146.0,196.5,13.8,633,6705,0.00,3.08,0.00,0.000,6,0.000,0.000,2930,2473,2154,0,0,1,0,0,0
$GC,7025,1.32,146.0,152.9,13.4,664,7029,0.00,2.78,0.00,0.000,4,0.000,0.000,2933,916,2154,0,0,0,0,0,0
$GC,7056,1.32,146.0,148.4,13.5,666,7062,0.00,2.92,0.00,0.000,6,0.000,0.000,2929,2487,2154,0,0,1,0,0,0
$GC,7382,1.32,146.0,105.8,12.9,697,7386,0.00,3.03,0.00,0.000,4,0.000,0.000,2930,805,2148,0,0,2,0,0,0
$GC,7421,1.32,146.0,100.7,12.9,700,7426,0.00,3.08,0.00,0.000,6,0.000,0.000,2937,2440,2153,0,0,2,0,0,0
$GC,7745,1.32,146.0,59.4,12.4,730,7750,0.00,2.95,0.00,0.000,4,0.000,0.000,2930,864,2156,0,0,1,0,0,0
$GC,7766,1.32,146.0,56.7,12.4,731,7772,0.00,2.97,0.00,0.000,6,0.000,0.000,2937,2324,2155,0,0,2,0,0,0
$GC,8091,1.32,146.0,18.3,11.3,763,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2325,2156,0,0,0,0,0,0
$GC,8170,1.32,146.0,10.0,11.2,776,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2329,2152,0,0,0,0,0,0
$STATE,8235,end climb,SURFACE_DEPTH_REACHED
$STATE,8235,begin surface coast
$FINISH,-0.0,1.026640
$STATE,8253,end surface coast,CONTROL_FINISHED_OK
$STATE,8253,begin surface
$SM_CCo,8277,67.07,0.001,0,0,1723,250.21
$SM_GC,-0.01,0.00,0.00,67.07,0.000,0.000,0.001,270,2244,1723,-10.98,0.54,250.21
$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,1078964506
$INTERNAL_PRESSURE,16.0065
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.8,999.0
$24V_AH,24.1,127.567
$10V_AH,10.7,29.587
$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,28.200,69.125,285.175,67.075,0.000,0.000,0.000,83.004,9.750,0.000,22.889,1341.216,5713.487,470.107,753.950,306.275,0.000,1090.075,0.000,633.595,1440.000,54.142,0.000
$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,639.198,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129548
$DATA_FILE_SIZE,25268,791
$CAP_FILE_SIZE,94154,0
$CFSIZE,260165632,239759360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,30,0,0
$SOUNDSPEED,1470.0
$GPS,151009,124441,6650.147,-5827.352,18,1.1,18,18.0