version: 66.07
glider: 99
mission: 63
dive: 247
start: 10 6 109 15 18 43
data:
$ID,99
$MISSION,63
$DIVE,247
$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,-823652.75
$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,64
$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
$GPS1,151442,6652.131,-5929.729,23,1.1,23,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,151822,6652.131,-5929.729,13,1.1,13,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_ADD2_EB
$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,80.3,14517,-18.1,-10.000
$D_GRID,959
$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,-53.17,0.000,6,0.000,0.000,323,2286,3343,0,0,0,0,0,0
$GC,74,-1.32,-146.0,4.0,-20.2,11,90,10.15,2.75,0.00,0.000,4,0.000,0.000,2394,758,3348,0,0,1,0,0,0
$GC,124,-1.32,-146.0,17.6,-11.5,20,129,0.40,2.90,0.00,0.000,6,0.000,0.000,2375,2374,3345,0,0,4,0,0,0
$GC,200,-1.32,-146.0,29.2,-15.9,29,202,0.70,0.00,0.00,0.000,6,0.000,0.000,2377,2369,3349,1,0,0,0,0,0
$GC,391,-1.32,-146.0,51.1,-11.1,47,396,0.00,2.75,0.00,0.000,4,0.000,0.000,2379,784,3350,0,0,3,0,0,0
$GC,419,-1.32,-146.0,54.2,-11.3,49,423,0.00,2.75,0.00,0.000,6,0.000,0.000,2378,2308,3349,0,0,1,0,0,0
$GC,744,-1.32,-146.0,89.2,-10.6,79,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2310,3345,0,0,0,0,0,0
$GC,1062,-1.32,-146.0,122.5,-10.3,109,1066,0.00,2.72,0.00,0.000,4,0.000,0.000,2382,782,3346,0,0,0,0,0,0
$GC,1100,-1.32,-146.0,126.5,-10.4,112,1105,0.00,2.70,0.00,0.000,6,0.000,0.000,2372,2306,3348,0,0,0,0,0,0
$GC,1426,-1.32,-146.0,159.4,-9.9,142,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2307,3348,0,0,0,0,0,0
$GC,1743,-1.32,-146.0,191.1,-9.9,172,1748,0.00,2.75,0.00,0.000,4,0.000,0.000,2378,789,3344,0,0,1,0,0,0
$GC,1782,-1.32,-146.0,194.9,-10.0,175,1787,0.00,2.72,0.00,0.000,6,0.000,0.000,2377,2327,3344,0,0,0,0,0,0
$GC,2109,-1.32,-146.0,226.6,-9.6,205,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2335,3350,0,0,0,0,0,0
$GC,2426,-1.32,-146.0,257.4,-9.7,235,2430,0.00,2.83,0.00,0.000,4,0.000,0.000,2378,782,3351,0,0,0,0,0,0
$GC,2469,-1.32,-146.0,261.7,-9.6,238,2474,0.00,2.72,0.00,0.000,6,0.000,0.000,2384,2295,3352,0,0,2,0,0,0
$GC,2795,-1.32,-146.0,292.8,-9.5,269,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2293,3348,0,0,0,0,0,0
$GC,3113,-1.32,-146.0,323.3,-9.6,299,3117,0.00,2.92,0.00,0.000,4,0.000,0.000,2380,684,3344,0,0,1,0,0,0
$GC,3145,-1.32,-146.0,326.6,-9.5,301,3150,0.00,2.97,0.00,0.000,6,0.000,0.000,2379,2339,3346,0,0,0,0,0,0
$GC,3470,-1.32,-146.0,357.5,-9.4,332,3474,0.00,2.85,0.00,0.000,4,0.000,0.000,2377,794,3355,0,0,1,0,0,0
$GC,3498,-1.32,-146.0,360.1,-9.8,334,3503,0.00,2.70,0.00,0.000,6,0.000,0.000,2379,2294,3346,0,0,1,0,0,0
$GC,3823,-1.32,-146.0,391.0,-9.6,364,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2293,3347,0,0,0,0,0,0
$GC,4141,-1.32,-146.0,421.3,-9.6,394,4146,0.00,2.88,0.00,0.000,4,0.000,0.000,2379,775,3347,0,0,1,0,0,0
$GC,4169,-1.32,-146.0,424.0,-9.8,396,4174,0.00,3.05,0.00,0.000,6,0.000,0.000,2376,2303,3347,0,0,0,0,0,0
$STATE,4448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4449,begin apogee
$GC,4455,-0.31,0.0,450.6,9.4,422,4604,1.20,0.00,143.82,0.001,6,0.000,0.000,2627,2422,2749,0,0,0,0,0,0
$STATE,4606,end apogee,CONTROL_FINISHED_OK
$STATE,4606,begin climb
$GC,4609,1.32,146.0,452.7,0.0,437,4762,1.55,2.42,141.77,0.001,4,0.000,0.000,2961,3692,2158,0,0,2,0,0,0
$GC,4778,1.32,146.0,433.4,15.3,453,4784,0.00,2.42,1.50,0.000,6,0.000,0.000,2962,2293,2153,0,0,0,0,0,0
$GC,5103,1.32,146.0,383.1,15.4,484,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2287,2152,0,0,0,0,0,0
$GC,5423,1.32,146.0,333.6,15.6,514,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2298,2155,0,0,0,0,0,0
$GC,5740,1.32,146.0,284.2,15.3,544,5744,0.00,2.45,0.00,0.000,4,0.000,0.000,2963,3701,2156,0,0,1,0,0,0
$GC,5767,1.32,146.0,279.9,14.9,546,5772,0.00,2.40,0.00,0.000,6,0.000,0.000,2964,2329,2163,0,0,1,0,0,0
$GC,6092,1.32,146.0,229.9,15.3,576,6093,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2329,2157,0,0,0,0,0,0
$GC,6413,1.32,146.0,181.2,15.4,606,6417,0.00,3.03,0.00,0.000,4,0.000,0.000,2959,724,2151,0,0,2,0,0,0
$GC,6433,1.32,146.0,177.6,14.9,607,6439,0.00,3.10,0.00,0.000,6,0.000,0.000,2958,2439,2153,0,0,1,0,0,0
$GC,6758,1.32,146.0,128.9,14.9,638,6767,0.00,3.03,0.98,0.000,4,0.000,0.000,2955,753,2153,0,0,1,0,0,0
$GC,6784,1.32,146.0,125.0,14.7,640,6789,0.00,2.97,0.00,0.000,6,0.000,0.000,2961,2396,2155,0,0,2,0,0,0
$GC,7108,1.32,146.0,77.8,14.4,671,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2396,2159,0,0,0,0,0,0
$GC,7429,1.32,146.0,33.2,13.6,701,7434,0.00,2.58,0.00,0.000,4,0.000,0.000,2966,980,2157,0,0,1,0,0,0
$GC,7457,1.32,146.0,29.0,13.7,703,7462,0.00,3.00,0.00,0.000,6,0.000,0.000,2955,2507,2156,0,0,0,0,0,0
$GC,7662,1.32,146.0,2.4,12.9,733,7666,0.00,2.88,0.00,0.000,4,0.000,0.000,2956,898,2158,0,0,0,0,0,0
$STATE,7670,end climb,SURFACE_DEPTH_REACHED
$STATE,7670,begin surface coast
$FINISH,-0.0,1.026617
$STATE,7682,end surface coast,CONTROL_FINISHED_OK
$STATE,7682,begin surface
$SM_CCo,7708,67.80,0.001,0,0,1733,250.70
$SM_GC,-0.00,0.00,0.00,67.80,0.000,0.000,0.001,309,2363,1733,-10.77,3.76,250.70
$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,0.034515
$HUMID,1078890958
$INTERNAL_PRESSURE,16.0358
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.5,999.0
$24V_AH,24.1,105.058
$10V_AH,10.7,26.007
$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,27.225,78.200,288.075,67.800,0.000,0.000,0.000,81.492,9.750,0.000,16.038,1257.296,5283.016,470.442,699.299,292.930,0.000,1053.328,0.000,586.566,2160.000,60.104,0.000
$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,590.734,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129564
$DATA_FILE_SIZE,25333,737
$CAP_FILE_SIZE,89894,0
$CFSIZE,260165632,243609600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,29,0,0
$SOUNDSPEED,1468.6
$GPS,061009,172954,6652.304,-5927.036,35,1.1,35,18.0