version: 66.07
glider: 99
mission: 63
dive: 419
start: 10 23 109 0 24 18
data:
$ID,99
$MISSION,63
$DIVE,419
$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,-2
$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,-828076.31
$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,51
$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
$GPS1,002000,6652.947,-5918.426,21,1.1,21,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,002357,6652.947,-5918.426,21,1.1,21,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_ADD3_EB
$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,66.6,40425,-18.1,-10.000
$D_GRID,1024
$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,-53.30,0.000,6,0.000,0.000,330,2241,3346,0,0,0,0,0,0
$GC,75,-1.32,-146.0,3.8,-19.0,10,89,10.18,0.00,0.00,0.000,6,0.000,0.000,2390,2236,3346,1,0,0,0,0,0
$GC,162,-1.32,-146.0,21.6,-11.1,25,164,0.47,0.00,0.00,0.000,6,0.000,0.000,2311,2239,3341,1,0,0,0,0,0
$GC,353,-1.32,-146.0,49.7,-14.8,43,359,0.43,2.72,0.00,0.000,4,0.000,0.000,2389,637,3341,0,0,1,0,0,0
$GC,375,-1.32,-146.0,52.4,-11.8,44,381,0.15,2.90,0.00,0.000,6,0.000,0.000,2330,2282,3344,0,0,2,0,0,0
$GC,699,-1.32,-146.0,94.4,-12.7,75,702,0.47,0.00,0.00,0.000,6,0.000,0.000,2395,2281,3343,1,0,0,0,0,0
$GC,1019,-1.32,-146.0,125.2,-9.5,105,1025,0.38,2.97,0.00,0.000,4,0.000,0.000,2296,627,3341,0,0,3,0,0,0
$GC,1041,-1.32,-146.0,128.2,-12.5,106,1047,0.50,2.85,0.00,0.000,6,0.000,0.000,2397,2299,3340,0,0,2,0,0,0
$GC,1367,-1.32,-146.0,159.0,-9.3,137,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2294,3342,0,0,0,0,0,0
$GC,1685,-1.32,-146.0,188.5,-9.1,167,1691,0.22,3.17,0.00,0.000,4,0.000,0.000,2359,705,3339,0,0,2,0,0,0
$GC,1718,-1.32,-146.0,192.1,-10.9,169,1724,0.00,2.85,0.00,0.000,6,0.000,0.000,2355,2283,3343,0,0,0,0,0,0
$GC,2043,-1.32,-146.0,227.5,-10.9,200,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2290,3342,0,0,0,0,0,0
$GC,2362,-1.32,-146.0,262.0,-10.7,230,2368,0.22,3.00,0.00,0.000,4,0.000,0.000,2390,705,3338,0,0,2,0,0,0
$GC,2391,-1.32,-146.0,264.7,-8.9,232,2396,0.47,2.72,0.00,0.000,6,0.000,0.000,2322,2270,3339,1,0,0,0,0,0
$GC,2715,-1.32,-146.0,302.1,-11.6,262,2718,0.43,0.00,0.00,0.000,6,0.000,0.000,2400,2271,3342,0,0,0,0,0,0
$GC,3034,-1.32,-146.0,329.9,-8.5,292,3036,0.20,0.00,0.00,0.000,6,0.000,0.000,2340,2270,3343,0,0,0,0,0,0
$GC,3352,-1.32,-146.0,365.3,-11.2,322,3358,0.52,2.72,0.00,0.000,4,0.000,0.000,2428,604,3342,1,0,1,0,0,0
$GC,3381,-1.32,-146.0,367.7,-8.3,324,3387,0.50,3.05,0.00,0.000,6,0.000,0.000,2380,2305,3339,1,0,0,0,0,0
$GC,3706,-1.32,-146.0,397.6,-9.3,354,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2322,3343,0,0,0,0,0,0
$GC,4025,-1.32,-146.0,427.2,-9.4,384,4029,0.00,2.83,0.00,0.000,4,0.000,0.000,2388,724,3339,0,0,1,0,0,0
$GC,4064,-1.32,-146.0,430.8,-9.2,387,4068,0.00,2.75,0.00,0.000,6,0.000,0.000,2384,2246,3340,0,0,1,0,0,0
$STATE,4271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4271,begin apogee
$GC,4278,-0.31,0.0,450.0,9.2,406,4424,1.15,0.00,141.62,0.001,6,0.000,0.000,2606,2370,2752,0,0,0,0,0,0
$STATE,4425,end apogee,CONTROL_FINISHED_OK
$STATE,4425,begin climb
$GC,4430,1.32,146.0,452.5,0.0,421,4579,1.83,0.00,144.15,0.001,6,0.000,0.000,2978,2363,2152,1,0,0,0,0,0
$GC,4895,1.32,146.0,382.1,16.8,466,4897,0.38,0.00,0.00,0.000,6,0.000,0.000,2913,2367,2150,0,0,0,0,0,0
$GC,5213,1.32,146.0,341.9,12.5,496,5219,0.30,2.83,0.00,0.000,4,0.000,0.000,2977,783,2149,0,0,1,0,0,0
$GC,5241,1.32,146.0,337.4,16.5,498,5247,0.82,2.72,0.00,0.000,6,0.000,0.000,2864,2313,2153,1,0,1,0,0,0
$GC,5566,1.32,151.3,304.6,9.8,528,5577,0.57,2.70,5.15,0.001,4,0.000,0.000,2979,3626,2142,0,0,1,0,0,0
$GC,5593,1.32,151.3,300.3,16.6,530,5600,0.68,2.60,0.00,0.000,6,0.000,0.000,2898,2240,2145,1,0,1,0,0,0
$GC,5918,1.32,151.3,260.1,12.4,561,5929,0.32,2.67,1.55,0.000,4,0.000,0.000,2972,3690,2137,0,0,1,0,0,0
$GC,5945,1.32,151.3,255.8,16.3,563,5950,0.00,2.60,0.00,0.000,6,0.000,0.000,2971,2216,2136,0,0,3,0,0,0
$GC,6270,1.32,151.3,203.2,16.1,594,6276,0.22,2.90,0.00,0.000,4,0.000,0.000,2931,3746,2143,0,0,5,0,0,0
$GC,6298,1.32,151.3,199.1,13.3,596,6309,0.00,2.58,3.30,0.000,6,0.000,0.000,2935,2201,2131,0,0,3,0,0,0
$GC,6628,1.32,151.3,154.3,13.5,627,6632,0.00,2.85,0.00,0.000,4,0.000,0.000,2922,3740,2131,0,0,3,0,0,0
$GC,6656,1.32,151.3,150.6,13.7,629,6660,0.00,2.78,0.00,0.000,6,0.000,0.000,2932,2086,2132,0,0,4,0,0,0
$GC,6980,1.32,151.3,107.3,13.4,659,6984,0.00,2.78,0.00,0.000,4,0.000,0.000,2930,3660,2130,0,0,0,0,0,0
$GC,7035,1.32,151.3,100.0,12.9,663,7040,0.00,2.55,0.00,0.000,6,0.000,0.000,2932,2212,2135,0,0,2,0,0,0
$GC,7359,1.32,151.3,58.2,12.8,694,7363,0.00,2.47,0.00,0.000,4,0.000,0.000,2932,3608,2133,0,0,0,0,0,0
$GC,7387,1.32,151.3,54.7,12.6,696,7391,0.00,2.47,0.00,0.000,6,0.000,0.000,2927,2235,2135,0,0,1,0,0,0
$GC,7713,1.32,151.3,14.8,12.0,729,7718,0.00,2.75,0.00,0.000,4,0.000,0.000,2939,3659,2128,0,0,2,0,0,0
$GC,7735,1.32,151.3,12.2,11.8,733,7740,0.00,2.67,0.00,0.000,6,0.000,0.000,2929,2142,2136,0,0,1,0,0,0
$GC,7809,1.32,151.3,3.7,12.1,746,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2142,2126,0,0,0,0,0,0
$STATE,7823,end climb,SURFACE_DEPTH_REACHED
$STATE,7823,begin surface coast
$FINISH,-0.0,1.026665
$STATE,7841,end surface coast,CONTROL_FINISHED_OK
$STATE,7841,begin surface
$SM_CCo,7865,64.10,0.001,0,0,1731,250.21
$SM_GC,-0.00,0.00,0.00,64.10,0.000,0.000,0.001,282,2322,1731,-10.92,2.69,250.21
$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,1079026218
$INTERNAL_PRESSURE,16.026
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.2,999.0
$24V_AH,24.1,146.970
$10V_AH,10.7,32.659
$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,34.600,77.925,295.775,64.100,0.000,0.000,0.000,83.301,9.750,0.000,24.071,1296.035,5352.932,496.616,718.531,308.846,0.000,1087.869,0.000,596.311,1440.000,55.900,0.000
$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,606.416,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129580
$DATA_FILE_SIZE,25295,752
$CAP_FILE_SIZE,94173,0
$CFSIZE,260165632,236457984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,9,45,0,0
$SOUNDSPEED,1468.7
$GPS,231009,023804,6653.405,-5915.881,35,1.1,35,18.0