version: 66.07
glider: 99
mission: 63
dive: 180
start: 9 30 109 6 38 44
data:
$ID,99
$MISSION,63
$DIVE,180
$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,-822074.12
$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,3
$R_STBD_OVSHOOT,2
$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
$GPS1,063423,6635.913,-5854.725,30,1.1,30,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,063822,6635.913,-5854.725,33,1.1,33,18.0
$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,260.1,80114,-18.1,-10.000
$D_GRID,769
$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,-53.53,0.000,6,0.000,0.000,345,2123,3342,0,0,0,0,0,0
$GC,75,-1.32,-146.0,4.4,-22.4,11,90,10.23,3.03,0.00,0.000,4,0.000,0.000,2401,3709,3345,2,0,2,0,0,0
$GC,124,-1.32,-146.0,19.0,-11.2,20,133,0.47,3.40,0.00,0.000,6,0.000,0.000,2317,2082,3345,1,0,4,0,0,0
$GC,203,-1.32,-146.0,30.6,-15.1,29,205,0.38,0.00,0.00,0.000,6,0.000,0.000,2388,2081,3346,0,0,0,0,0,0
$GC,394,-1.32,-146.0,51.8,-10.9,47,399,0.00,2.97,0.00,0.000,4,0.000,0.000,2386,3712,3349,0,0,0,0,0,0
$GC,415,-1.32,-146.0,54.2,-10.5,48,421,0.00,2.88,0.00,0.000,6,0.000,0.000,2379,2077,3346,0,0,2,0,0,0
$GC,741,-1.32,-146.0,87.5,-10.0,79,745,0.00,3.00,0.00,0.000,4,0.000,0.000,2386,3686,3343,0,0,3,0,0,0
$GC,773,-1.32,-146.0,90.8,-9.9,81,778,0.00,2.83,0.00,0.000,6,0.000,0.000,2379,2098,3341,0,0,0,0,0,0
$GC,1098,-1.32,-146.0,122.5,-9.6,112,1103,0.00,2.80,0.00,0.000,4,0.000,0.000,2384,3767,3343,0,0,0,0,0,0
$GC,1126,-1.32,-146.0,125.2,-9.5,114,1130,0.00,2.90,0.00,0.000,6,0.000,0.000,2385,2145,3351,0,0,0,0,0,0
$GC,1451,-1.32,-146.0,156.2,-9.4,144,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2158,3344,0,0,0,0,0,0
$GC,1769,-1.32,-146.0,186.2,-9.3,174,1774,0.00,2.67,0.00,0.000,4,0.000,0.000,2386,3615,3344,0,0,0,0,0,0
$GC,1798,-1.32,-146.0,188.9,-9.3,176,1803,0.00,3.17,0.00,0.000,6,0.000,0.000,2389,1985,3349,0,0,2,0,0,0
$GC,2122,-1.32,-146.0,219.2,-9.4,206,2127,0.00,3.08,0.00,0.000,4,0.000,0.000,2386,3669,3345,0,0,3,0,0,0
$GC,2178,-1.32,-146.0,224.4,-9.4,210,2183,0.00,2.80,0.00,0.000,6,0.000,0.000,2387,2063,3346,0,0,1,0,0,0
$GC,2502,-1.32,-146.0,254.5,-9.3,241,2507,0.00,3.00,0.00,0.000,4,0.000,0.000,2394,3692,3342,0,0,0,0,0,0
$GC,2541,-1.32,-146.0,258.1,-9.5,244,2546,0.00,2.83,0.00,0.000,6,0.000,0.000,2389,2126,3343,0,0,0,0,0,0
$GC,2867,-1.32,-146.0,288.1,-9.2,274,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2124,3341,0,0,0,0,0,0
$GC,3185,-1.32,-146.0,317.5,-9.3,304,3189,0.00,2.78,0.00,0.000,4,0.000,0.000,2383,3682,3344,0,0,1,0,0,0
$GC,3224,-1.32,-146.0,321.1,-9.4,307,3228,0.00,2.85,0.00,0.000,6,0.000,0.000,2387,2117,3350,0,0,0,0,0,0
$GC,3548,-1.32,-146.0,351.1,-9.1,337,3553,0.00,2.72,0.00,0.000,4,0.000,0.000,2385,3671,3342,0,0,2,0,0,0
$GC,3570,-1.32,-146.0,353.2,-9.3,338,3575,0.00,2.72,0.00,0.000,6,0.000,0.000,2382,2132,3344,0,0,0,0,0,0
$GC,3895,-1.32,-146.0,383.0,-9.2,369,3899,0.00,2.78,0.00,0.000,4,0.000,0.000,2392,3722,3346,0,0,1,0,0,0
$GC,3916,-1.32,-146.0,385.0,-9.2,370,3921,0.00,2.95,0.00,0.000,6,0.000,0.000,2383,2063,3351,0,0,2,0,0,0
$GC,4241,-1.32,-146.0,414.6,-9.2,401,4245,0.00,2.88,0.00,0.000,4,0.000,0.000,2379,3670,3348,0,0,0,0,0,0
$GC,4280,-1.32,-146.0,418.2,-9.5,404,4285,0.00,3.15,0.00,0.000,6,0.000,0.000,2383,2008,3338,0,0,1,0,0,0
$GC,4604,-1.32,-146.0,447.7,-9.0,434,4609,0.00,3.38,0.00,0.000,4,0.000,0.000,2388,3794,3346,0,0,0,0,0,0
$STATE,4630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4630,begin apogee
$GC,4640,-0.31,0.0,450.3,9.2,436,4788,1.10,0.00,143.60,0.001,6,0.000,0.000,2611,2216,2748,0,0,0,0,0,0
$STATE,4791,end apogee,CONTROL_FINISHED_OK
$STATE,4791,begin climb
$GC,4793,1.32,146.0,452.8,0.0,451,4943,1.95,0.00,143.65,0.001,6,0.000,0.000,3030,2208,2152,0,0,0,0,0,0
$GC,5258,1.32,146.0,369.5,19.8,496,5263,0.55,2.67,0.00,0.000,4,0.000,0.000,2904,3717,2151,0,0,0,0,0,0
$GC,5290,1.32,146.0,364.6,12.0,498,5296,0.43,2.65,0.00,0.000,6,0.000,0.000,2966,2226,2152,0,0,0,0,0,0
$GC,5615,1.32,146.0,312.6,16.2,529,5621,0.28,2.88,0.00,0.000,4,0.000,0.000,2889,3739,2154,0,0,1,0,0,0
$GC,5643,1.32,146.0,309.1,11.5,531,5649,0.40,2.75,0.00,0.000,6,0.000,0.000,2961,2209,2153,0,0,1,0,0,0
$GC,5967,1.32,146.0,259.0,15.5,561,5972,0.00,2.78,0.00,0.000,4,0.000,0.000,2968,3776,2150,0,0,1,0,0,0
$GC,5988,1.32,146.0,255.6,16.2,562,5994,0.00,3.42,0.00,0.000,6,0.000,0.000,2961,2171,2158,0,0,2,0,0,0
$GC,6313,1.32,146.0,205.4,15.7,593,6318,0.00,2.72,0.00,0.000,4,0.000,0.000,2962,3631,2151,0,0,1,0,0,0
$GC,6351,1.32,146.0,199.5,15.6,596,6356,0.00,3.00,0.00,0.000,6,0.000,0.000,2955,2154,2150,0,0,3,0,0,0
$GC,6675,1.32,146.0,149.5,15.4,626,6680,0.00,2.65,0.00,0.000,4,0.000,0.000,2950,3676,2149,0,0,2,0,0,0
$GC,6716,1.32,146.0,143.3,15.0,629,6720,0.00,2.47,0.00,0.000,6,0.000,0.000,2962,2262,2156,0,0,0,0,0,0
$GC,7040,1.32,146.0,94.3,14.8,659,7041,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2271,2155,0,0,0,0,0,0
$GC,7360,1.32,146.0,48.1,14.0,689,7365,0.00,2.67,0.00,0.000,4,0.000,0.000,2959,3753,2151,0,0,0,0,0,0
$GC,7382,1.32,146.0,44.7,14.2,690,7387,0.00,3.00,0.00,0.000,6,0.000,0.000,2957,2112,2147,0,0,2,0,0,0
$GC,7580,1.32,146.0,18.5,12.7,710,7585,0.00,2.67,0.00,0.000,4,0.000,0.000,2959,3657,2156,0,0,1,0,0,0
$GC,7613,1.32,146.0,14.3,12.6,716,7618,0.00,2.45,0.00,0.000,6,0.000,0.000,2965,2278,2154,0,0,0,0,0,0
$GC,7686,1.32,146.0,5.5,12.2,729,7690,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2277,2153,0,0,0,0,0,0
$STATE,7717,end climb,SURFACE_DEPTH_REACHED
$STATE,7717,begin surface coast
$FINISH,-0.0,1.026349
$STATE,7735,end surface coast,CONTROL_FINISHED_OK
$STATE,7735,begin surface
$SM_CCo,7760,66.55,0.001,0,0,1730,250.21
$SM_GC,-0.00,0.00,0.00,66.55,0.000,0.000,0.001,271,2121,1730,-11.05,-3.14,250.21
$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,1079024928
$INTERNAL_PRESSURE,15.9869
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.5,999.0
$24V_AH,24.1,88.794
$10V_AH,10.7,23.433
$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,29.300,109.725,287.250,66.550,0.000,0.000,0.000,81.011,9.750,0.000,36.048,1278.657,5249.274,518.224,724.303,295.273,0.000,1109.771,0.000,598.642,1800.000,55.903,0.000
$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,593.502,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129568
$DATA_FILE_SIZE,22096,738
$CAP_FILE_SIZE,97456,0
$CFSIZE,260165632,246378496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,40,0,0
$SOUNDSPEED,1471.4
$GPS,300909,085013,6635.704,-5857.347,10,1.1,11,18.0