version: 66.07
glider: 99
mission: 63
dive: 423
start: 10 23 109 9 27 21
data:
$ID,99
$MISSION,63
$DIVE,423
$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,-828192.62
$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,65
$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
$GPS1,092301,6654.518,-5908.185,27,1.1,27,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,092700,6654.518,-5908.185,23,1.1,23,18.0
$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,70.4,32821,-18.1,-10.000
$D_GRID,1058
$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,16,-1.32,-146.0,0.0,0.0,0,71,0.00,0.00,-53.08,0.000,6,0.000,0.000,334,2088,3343,0,0,0,0,0,0
$GC,74,-1.32,-146.0,3.5,-17.6,11,90,10.25,3.17,0.00,0.000,4,0.000,0.000,2429,3611,3344,1,0,5,0,0,0
$GC,148,-1.32,-146.0,18.4,-9.0,24,153,0.40,2.60,0.00,0.000,6,0.000,0.000,2334,2117,3345,0,0,1,0,0,0
$GC,218,-1.32,-146.0,27.8,-13.7,32,220,0.25,0.00,0.00,0.000,6,0.000,0.000,2402,2112,3344,0,0,0,0,0,0
$GC,410,-1.32,-146.0,47.5,-9.9,50,412,0.45,0.00,0.00,0.000,6,0.000,0.000,2311,2117,3345,0,0,0,0,0,0
$GC,600,-1.32,-146.0,74.1,-13.9,68,606,0.35,2.58,0.00,0.000,4,0.000,0.000,2395,3544,3342,0,0,2,0,0,0
$GC,635,-1.32,-146.0,77.9,-10.2,70,640,0.00,2.72,0.00,0.000,6,0.000,0.000,2387,2121,3346,0,0,0,0,0,0
$GC,960,-1.32,-146.0,110.5,-9.8,101,964,0.00,2.53,0.00,0.000,4,0.000,0.000,2390,3525,3346,0,0,3,0,0,0
$GC,981,-1.32,-146.0,112.8,-9.8,102,986,0.00,2.62,0.00,0.000,6,0.000,0.000,2390,2000,3344,0,0,1,0,0,0
$GC,1306,-1.32,-146.0,144.4,-9.8,133,1311,0.00,3.17,0.00,0.000,4,0.000,0.000,2388,3743,3347,0,0,3,0,0,0
$GC,1357,-1.32,-146.0,149.3,-9.7,137,1362,0.00,3.08,0.00,0.000,6,0.000,0.000,2390,2024,3345,0,0,5,0,0,0
$GC,1682,-1.32,-146.0,180.1,-9.6,167,1687,0.00,2.85,0.00,0.000,4,0.000,0.000,2390,3622,3339,0,0,1,0,0,0
$GC,1727,-1.32,-146.0,184.4,-9.3,170,1731,0.00,2.67,0.00,0.000,6,0.000,0.000,2394,2161,3346,0,0,1,0,0,0
$GC,2051,-1.32,-146.0,214.6,-9.1,201,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2157,3341,0,0,0,0,0,0
$GC,2370,-1.32,-146.0,244.1,-9.3,231,2374,0.00,2.67,0.00,0.000,4,0.000,0.000,2386,3658,3343,0,0,0,0,0,0
$GC,2402,-1.32,-146.0,247.1,-9.0,233,2407,0.00,2.67,0.00,0.000,6,0.000,0.000,2387,2140,3337,0,0,2,0,0,0
$GC,2727,-1.32,-146.0,276.8,-9.2,264,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2143,3345,0,0,0,0,0,0
$GC,3047,-1.32,-146.0,305.8,-9.1,294,3052,0.35,2.78,0.00,0.000,4,0.000,0.000,2285,3633,3349,0,0,1,0,0,0
$GC,3082,-1.32,-146.0,310.1,-13.4,296,3088,0.68,2.67,0.00,0.000,6,0.000,0.000,2399,2130,3344,0,0,0,0,0,0
$GC,3407,-1.32,-146.0,338.8,-8.6,327,3409,0.30,0.00,0.00,0.000,6,0.000,0.000,2358,2133,3340,0,0,0,0,0,0
$GC,3725,-1.32,-146.0,371.8,-10.2,357,3729,0.00,2.65,0.00,0.000,4,0.000,0.000,2356,3533,3339,0,0,1,0,0,0
$GC,3768,-1.32,-146.0,376.4,-10.4,360,3774,0.00,2.83,0.00,0.000,6,0.000,0.000,2353,2078,3348,0,0,3,0,0,0
$GC,4093,-1.32,-146.0,410.0,-10.3,391,4098,0.00,2.67,0.00,0.000,4,0.000,0.000,2359,3647,3348,0,0,0,0,0,0
$GC,4125,-1.32,-146.0,413.4,-10.6,393,4131,0.00,2.88,0.00,0.000,6,0.000,0.000,2361,2107,3346,0,0,2,0,0,0
$GC,4450,-1.32,-146.0,446.9,-10.2,424,4454,0.00,2.83,0.00,0.000,4,0.000,0.000,2357,3642,3346,0,0,0,0,0,0
$GC,4477,-1.32,-146.0,449.8,-10.3,426,4481,0.00,2.17,0.00,0.000,3,0.000,0.000,2358,2333,3341,0,0,0,0,0,0
$STATE,4482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4482,begin apogee
$GC,4489,-0.31,0.0,450.3,10.4,426,4636,1.25,0.00,142.62,0.001,6,0.000,0.000,2600,2329,2749,0,0,0,0,0,0
$STATE,4639,end apogee,CONTROL_FINISHED_OK
$STATE,4639,begin climb
$GC,4642,1.32,146.0,452.9,0.0,441,4795,1.95,2.53,141.80,0.001,4,0.000,0.000,3006,3692,2157,0,0,1,0,0,0
$GC,4819,1.32,146.0,429.3,19.0,458,4825,0.57,2.62,0.00,0.000,6,0.000,0.000,2877,2229,2158,1,0,1,0,0,0
$GC,5143,1.32,146.0,393.9,10.7,488,5145,0.43,0.00,0.00,0.000,6,0.000,0.000,2957,2231,2151,0,0,0,0,0,0
$GC,5463,1.32,146.0,343.7,15.7,518,5468,0.00,2.45,0.00,0.000,4,0.000,0.000,2964,3616,2147,0,0,0,0,0,0
$GC,5508,1.32,146.0,336.4,15.8,521,5514,0.47,2.55,0.52,0.000,6,0.000,0.000,2885,2232,2153,1,0,1,0,0,0
$GC,5839,1.32,146.0,298.9,11.1,553,5844,0.38,2.40,0.00,0.000,4,0.000,0.000,2956,3610,2154,0,0,1,0,0,0
$GC,5867,1.32,146.0,295.1,14.1,555,5872,0.00,2.62,0.00,0.000,6,0.000,0.000,2951,2095,2156,0,0,1,0,0,0
$GC,6191,1.32,146.0,245.4,15.3,585,6196,0.00,2.88,0.00,0.000,4,0.000,0.000,2958,3738,2154,0,0,2,0,0,0
$GC,6242,1.32,146.0,237.8,15.3,589,6247,0.00,2.97,0.00,0.000,6,0.000,0.000,2955,1973,2154,0,0,1,0,0,0
$GC,6566,1.32,146.0,188.7,14.9,619,6571,0.00,2.97,0.00,0.000,4,0.000,0.000,2951,3637,2160,0,0,0,0,0,0
$GC,6655,1.32,146.0,175.3,15.2,626,6662,0.00,2.45,1.67,0.000,6,0.000,0.000,2959,2240,2156,0,0,1,0,0,0
$GC,6989,1.32,146.0,125.8,14.6,658,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2237,2157,0,0,0,0,0,0
$GC,7310,1.32,146.0,79.8,14.4,688,7314,0.00,2.55,0.00,0.000,4,0.000,0.000,2957,3597,2150,0,0,0,0,0,0
$GC,7349,1.32,146.0,73.9,14.6,691,7354,0.00,2.70,0.77,0.000,6,0.000,0.000,2959,2255,2157,0,0,1,0,0,0
$GC,7673,1.32,146.0,29.4,13.2,721,7674,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2263,2153,0,0,0,0,0,0
$GC,7871,1.32,146.0,3.6,12.8,750,7876,0.00,2.67,0.00,0.000,4,0.000,0.000,2960,3669,2155,0,0,1,0,0,0
$STATE,7885,end climb,SURFACE_DEPTH_REACHED
$STATE,7885,begin surface coast
$FINISH,-0.0,1.026704
$STATE,7897,end surface coast,CONTROL_FINISHED_OK
$STATE,7897,begin surface
$SM_CCo,7924,67.78,0.001,0,0,1724,250.21
$SM_GC,-0.00,0.00,0.00,67.78,0.000,0.000,0.001,310,2185,1724,-10.79,-1.47,250.21
$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,1079077186
$INTERNAL_PRESSURE,15.9479
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,426.1,999.0
$24V_AH,24.1,147.936
$10V_AH,10.7,32.814
$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,31.325,91.900,287.400,67.775,0.000,0.000,0.000,86.588,9.750,0.000,25.511,1268.608,5414.138,489.229,742.052,316.216,0.000,1103.440,0.000,621.924,0.000,56.145,0.000
$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,607.886,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129548
$DATA_FILE_SIZE,25310,755
$CAP_FILE_SIZE,95956,0
$CFSIZE,260165632,236285952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,43,0,0
$SOUNDSPEED,1468.7
$GPS,231009,114142,6654.859,-5905.585,17,1.1,17,18.0