version: 66.07
glider: 99
mission: 63
dive: 168
start: 9 29 109 3 31 4
data:
$ID,99
$MISSION,63
$DIVE,168
$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,-821728.19
$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,47
$R_STBD_OVSHOOT,73
$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
$GPS1,032711,6639.512,-5823.399,24,1.1,24,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,033044,6639.512,-5823.399,9,1.1,9,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,8000.000
$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,254.6,102369,-18.1,-10.000
$D_GRID,676
$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,-146.0,0.0,0.0,0,72,0.00,0.00,-53.45,0.000,3,0.000,0.000,332,2276,3350,0,0,0,0,0,0
$GC,75,-1.32,-146.0,4.4,-22.2,11,90,10.23,2.72,0.00,0.000,4,0.000,0.000,2412,767,3345,0,0,1,0,0,0
$GC,107,-1.32,-146.0,16.4,-21.3,17,113,0.32,2.60,0.00,0.000,6,0.000,0.000,2337,2271,3347,0,0,2,0,0,0
$GC,184,-1.32,-146.0,26.7,-14.0,27,186,0.28,0.00,0.00,0.000,6,0.000,0.000,2381,2269,3346,0,0,0,0,0,0
$GC,376,-1.32,-146.0,48.2,-10.8,45,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2283,3346,0,0,0,0,0,0
$GC,566,-1.32,-146.0,68.2,-10.3,63,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2272,3346,0,0,0,0,0,0
$GC,888,-1.32,-146.0,100.2,-9.8,93,893,0.00,2.58,0.00,0.000,4,0.000,0.000,2384,786,3350,0,0,3,0,0,0
$GC,916,-1.32,-146.0,103.2,-9.7,95,920,0.00,2.78,0.00,0.000,6,0.000,0.000,2383,2335,3345,0,0,1,0,0,0
$GC,1241,-1.32,-146.0,134.8,-9.5,125,1245,0.00,2.70,0.00,0.000,4,0.000,0.000,2377,728,3346,0,0,2,0,0,0
$GC,1262,-1.32,-146.0,136.9,-9.7,126,1267,0.00,3.17,0.00,0.000,6,0.000,0.000,2383,2352,3348,0,0,4,0,0,0
$GC,1587,-1.32,-146.0,167.7,-9.4,157,1592,0.00,2.70,0.00,0.000,4,0.000,0.000,2378,806,3346,0,0,2,0,0,0
$GC,1619,-1.32,-146.0,170.8,-9.4,159,1624,0.00,2.78,0.00,0.000,6,0.000,0.000,2383,2355,3348,0,0,1,0,0,0
$GC,1944,-1.32,-146.0,201.2,-9.3,190,1949,0.00,2.95,0.00,0.000,4,0.000,0.000,2381,705,3345,0,0,0,0,0,0
$GC,1972,-1.32,-146.0,203.9,-9.6,192,1976,0.00,2.83,0.00,0.000,6,0.000,0.000,2382,2295,3346,0,0,0,0,0,0
$GC,2296,-1.32,-146.0,234.2,-9.4,222,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2294,3344,0,0,0,0,0,0
$GC,2615,-1.32,-146.0,264.0,-9.4,252,2619,0.00,2.60,0.00,0.000,4,0.000,0.000,2384,816,3346,0,0,0,0,0,0
$GC,2647,-1.32,-146.0,267.1,-9.6,254,2652,0.00,2.60,0.00,0.000,6,0.000,0.000,2390,2263,3343,0,0,0,0,0,0
$GC,2972,-1.32,-146.0,297.3,-9.3,285,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2274,3344,0,0,0,0,0,0
$GC,3291,-1.32,-146.0,327.0,-9.3,315,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2262,3346,0,0,0,0,0,0
$GC,3609,-1.32,-146.0,356.7,-9.4,345,3614,0.00,2.62,0.00,0.000,4,0.000,0.000,2376,786,3349,0,0,0,0,0,0
$GC,3637,-1.32,-146.0,359.4,-9.2,347,3642,0.00,2.92,0.00,0.000,6,0.000,0.000,2381,2344,3347,0,0,1,0,0,0
$GC,3962,-1.32,-146.0,389.6,-9.4,377,3967,0.00,3.05,0.00,0.000,4,0.000,0.000,2386,744,3345,0,0,1,0,0,0
$GC,3990,-1.32,-146.0,392.2,-9.3,379,3995,0.00,2.70,0.00,0.000,6,0.000,0.000,2384,2252,3346,0,0,0,0,0,0
$GC,4315,-1.32,-146.0,422.1,-9.1,409,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2248,3345,0,0,0,0,0,0
$STATE,4622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4622,begin apogee
$GC,4629,-0.31,0.0,450.4,9.1,438,4777,1.15,0.00,143.60,0.001,6,0.000,0.000,2612,2348,2747,0,0,0,0,0,0
$STATE,4779,end apogee,CONTROL_FINISHED_OK
$STATE,4779,begin climb
$GC,4782,1.32,146.0,452.9,0.0,453,4936,1.73,0.00,142.40,0.001,6,0.000,0.000,2957,2354,2153,1,0,0,0,0,0
$GC,5254,1.32,146.0,385.4,15.7,498,5256,0.30,0.00,0.00,0.000,6,0.000,0.000,2909,2360,2157,0,0,0,0,0,0
$GC,5571,1.32,146.0,346.4,12.3,528,5573,0.40,0.00,0.00,0.000,6,0.000,0.000,2986,2358,2156,0,0,0,0,0,0
$GC,5889,1.32,146.0,293.6,16.9,558,5891,0.35,0.00,0.00,0.000,6,0.000,0.000,2909,2359,2152,0,0,0,0,0,0
$GC,6208,1.32,146.0,252.8,12.6,588,6214,0.47,2.88,0.00,0.000,4,0.000,0.000,2971,793,2152,1,0,4,0,0,0
$GC,6230,1.32,146.0,249.5,14.7,589,6236,0.32,3.22,0.00,0.000,6,0.000,0.000,2923,2544,2154,0,0,3,0,0,0
$GC,6555,1.32,146.0,206.5,13.3,620,6559,0.00,2.88,0.00,0.000,4,0.000,0.000,2914,884,2155,0,0,3,0,0,0
$GC,6609,1.32,146.0,199.1,13.1,624,6615,0.00,2.60,0.00,0.000,6,0.000,0.000,2927,2371,2154,0,0,0,0,0,0
$GC,6934,1.32,146.0,156.4,13.1,655,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2363,2153,0,0,0,0,0,0
$GC,7255,1.32,146.0,114.9,13.0,685,7256,0.17,0.00,0.00,0.000,6,0.000,0.000,2946,2367,2154,0,0,0,0,0,0
$GC,7571,1.32,146.0,70.9,13.8,715,7575,0.00,2.58,0.00,0.000,4,0.000,0.000,2943,890,2150,0,0,1,0,0,0
$GC,7598,1.32,146.0,67.2,13.3,717,7603,0.00,2.60,0.00,0.000,6,0.000,0.000,2947,2369,2154,0,0,1,0,0,0
$GC,7923,1.32,146.0,25.1,12.5,747,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2367,2150,0,0,0,0,0,0
$STATE,8122,end climb,SURFACE_DEPTH_REACHED
$STATE,8122,begin surface coast
$FINISH,-0.0,1.026370
$STATE,8137,end surface coast,CONTROL_FINISHED_OK
$STATE,8137,begin surface
$SM_CCo,8162,67.28,0.001,0,0,1728,250.21
$SM_GC,-0.00,0.00,0.00,67.28,0.000,0.000,0.001,317,2172,1728,-10.81,-1.39,250.21
$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,1078999766
$INTERNAL_PRESSURE,15.8307
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.0,999.0
$24V_AH,24.1,85.903
$10V_AH,10.7,22.971
$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,28.725,61.625,286.000,67.275,0.000,0.000,0.000,80.371,9.750,0.000,9.527,1341.154,5629.524,460.248,727.244,292.337,0.000,1064.545,0.000,614.275,2160.000,54.084,0.000
$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,630.838,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129568
$DATA_FILE_SIZE,25310,782
$CAP_FILE_SIZE,91996,0
$CFSIZE,260165632,246865920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,3,31,0,0
$SOUNDSPEED,1471.5
$GPS,290909,054946,6639.163,-5826.088,32,1.1,32,18.0