version: 66.07
glider: 99
mission: 63
dive: 264
start: 10 8 109 6 39 11
data:
$ID,99
$MISSION,63
$DIVE,264
$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,-824070.44
$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,41
$R_STBD_OVSHOOT,69
$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
$GPS1,063458,6656.598,-5843.681,25,1.1,25,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,063850,6656.598,-5843.681,25,1.1,25,18.0
$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,83.1,15305,-18.1,-10.000
$D_GRID,1014
$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,-53.47,0.000,6,0.000,0.000,322,2221,3343,0,0,0,0,0,0
$GC,75,-1.32,-146.0,3.5,-17.3,11,90,10.23,3.00,0.00,0.000,4,0.000,0.000,2432,3650,3350,3,0,2,0,0,0
$GC,113,-1.32,-146.0,15.3,-10.0,18,119,0.85,2.85,0.00,0.000,6,0.000,0.000,2286,2167,3353,1,0,2,0,0,0
$GC,190,-1.32,-146.0,27.6,-17.0,28,192,0.57,0.00,0.00,0.000,6,0.000,0.000,2392,2170,3352,1,0,0,0,0,0
$GC,382,-1.32,-146.0,48.6,-10.7,46,383,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2165,3346,0,0,0,0,0,0
$GC,573,-1.32,-146.0,68.4,-10.3,64,574,0.22,0.00,0.00,0.000,6,0.000,0.000,2360,2163,3355,0,0,0,0,0,0
$GC,891,-1.32,-146.0,106.0,-11.6,94,897,0.25,2.83,0.00,0.000,4,0.000,0.000,2395,3681,3352,0,0,1,0,0,0
$GC,920,-1.32,-146.0,108.8,-9.7,96,925,0.40,2.60,0.00,0.000,6,0.000,0.000,2314,2171,3349,0,0,2,0,0,0
$GC,1244,-1.32,-146.0,152.5,-13.3,126,1246,0.43,0.00,0.00,0.000,6,0.000,0.000,2400,2169,3353,0,0,0,0,0,0
$GC,1563,-1.32,-146.0,182.3,-9.4,156,1568,0.43,2.62,0.00,0.000,4,0.000,0.000,2291,3591,3349,0,0,1,0,0,0
$GC,1591,-1.32,-146.0,185.9,-13.8,158,1597,0.77,2.80,0.00,0.000,6,0.000,0.000,2424,2012,3348,1,0,2,0,0,0
$GC,1916,-1.32,-146.0,211.8,-7.8,188,1921,0.45,2.83,0.00,0.000,4,0.000,0.000,2333,3662,3353,0,0,1,0,0,0
$GC,1967,-1.32,-146.0,217.5,-12.0,192,1973,0.43,2.83,0.00,0.000,6,0.000,0.000,2371,2013,3351,0,0,1,0,0,0
$GC,2292,-1.32,-146.0,248.9,-9.5,222,2296,0.00,2.85,0.00,0.000,4,0.000,0.000,2374,3646,3354,0,0,0,0,0,0
$GC,2335,-1.32,-146.0,253.2,-9.4,225,2341,0.00,2.80,0.00,0.000,6,0.000,0.000,2373,2026,3352,0,0,2,0,0,0
$GC,2660,-1.32,-146.0,284.1,-9.4,256,2665,0.00,2.85,0.00,0.000,4,0.000,0.000,2374,3601,3346,0,0,0,0,0,0
$GC,2711,-1.32,-146.0,288.9,-9.4,260,2715,0.00,2.65,0.00,0.000,6,0.000,0.000,2385,2202,3345,0,0,2,0,0,0
$GC,3035,-1.32,-146.0,319.6,-9.6,290,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2194,3352,0,0,0,0,0,0
$GC,3354,-1.32,-146.0,349.7,-9.5,320,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2193,3351,0,0,0,0,0,0
$GC,3672,-1.32,-146.0,379.7,-9.4,350,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2196,3350,0,0,0,0,0,0
$GC,3991,-1.32,-146.0,409.7,-9.4,380,3995,0.00,2.53,0.00,0.000,4,0.000,0.000,2384,3654,3350,0,0,0,0,0,0
$GC,4019,-1.32,-146.0,412.3,-9.4,382,4024,0.00,2.80,0.00,0.000,6,0.000,0.000,2380,2018,3353,0,0,2,0,0,0
$GC,4344,-1.32,-146.0,442.7,-9.3,412,4349,0.00,2.88,0.00,0.000,4,0.000,0.000,2380,3606,3352,0,0,1,0,0,0
$GC,4388,-1.32,-146.0,447.0,-9.5,415,4393,0.00,2.58,0.00,0.000,6,0.000,0.000,2385,2192,3352,0,0,0,0,0,0
$STATE,4425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4425,begin apogee
$GC,4431,-0.31,0.0,450.4,9.5,419,4580,1.23,0.00,144.52,0.001,6,0.000,0.000,2622,2378,2747,0,0,0,0,0,0
$STATE,4583,end apogee,CONTROL_FINISHED_OK
$STATE,4583,begin climb
$GC,4586,1.32,146.0,452.7,0.0,434,4739,1.77,2.20,142.75,0.001,4,0.000,0.000,2984,3652,2150,0,0,1,0,0,0
$GC,4762,1.32,146.0,430.6,16.5,451,4767,0.28,2.47,0.00,0.000,6,0.000,0.000,2910,2296,2154,0,0,1,0,0,0
$GC,5086,1.32,146.0,389.6,12.4,481,5088,0.32,0.00,0.00,0.000,6,0.000,0.000,2977,2301,2153,0,0,0,0,0,0
$GC,5404,1.32,146.0,336.4,16.8,511,5406,0.35,0.00,0.00,0.000,6,0.000,0.000,2912,2307,2151,0,0,0,0,0,0
$GC,5725,1.32,146.0,295.8,12.5,541,5727,0.40,0.00,0.00,0.000,6,0.000,0.000,2996,2297,2147,0,0,0,0,0,0
$GC,6042,1.32,146.0,239.4,17.9,571,6044,0.55,0.00,0.00,0.000,6,0.000,0.000,2862,2298,2153,1,0,0,0,0,0
$GC,6360,1.32,146.0,206.9,10.1,601,6365,0.50,2.33,0.00,0.000,4,0.000,0.000,2983,3625,2147,0,0,0,0,0,0
$GC,6388,1.32,146.0,202.7,16.1,603,6393,0.40,2.40,0.00,0.000,6,0.000,0.000,2916,2291,2148,0,0,1,0,0,0
$GC,6712,1.32,146.0,161.9,12.4,633,6714,0.40,0.00,0.00,0.000,6,0.000,0.000,2983,2285,2157,0,0,0,0,0,0
$GC,7031,1.32,146.0,111.9,15.5,663,7033,0.47,0.00,0.00,0.000,6,0.000,0.000,2899,2286,2151,1,0,0,0,0,0
$GC,7350,1.32,146.0,77.8,10.5,693,7355,0.35,2.53,0.00,0.000,4,0.000,0.000,2958,3591,2154,0,0,1,0,0,0
$GC,7377,1.32,146.0,74.1,13.9,695,7382,0.00,2.28,0.00,0.000,6,0.000,0.000,2958,2306,2153,0,0,1,0,0,0
$GC,7702,1.32,146.0,29.8,13.1,725,7703,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2312,2151,0,0,0,0,0,0
$GC,7904,1.32,146.0,4.0,13.0,753,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2306,2150,0,0,0,0,0,0
$STATE,7918,end climb,SURFACE_DEPTH_REACHED
$STATE,7918,begin surface coast
$FINISH,-0.0,1.026641
$STATE,7930,end surface coast,CONTROL_FINISHED_OK
$STATE,7930,begin surface
$SM_CCo,7954,66.90,0.001,0,0,1726,250.45
$SM_GC,-0.00,0.00,0.00,66.90,0.000,0.000,0.001,339,2305,1726,-10.65,2.29,250.45
$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,0.03068
$HUMID,1078988153
$INTERNAL_PRESSURE,16.0358
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.8,999.0
$24V_AH,24.1,109.247
$10V_AH,10.7,26.669
$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,35.125,58.825,287.275,66.900,0.000,0.000,0.000,81.945,9.750,0.000,27.798,1311.519,5466.141,464.456,725.760,292.895,0.000,1055.157,0.000,603.043,1800.000,55.967,0.000
$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,610.499,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129568
$DATA_FILE_SIZE,25296,758
$CAP_FILE_SIZE,93134,0
$CFSIZE,260165632,242909184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,10,25,0,0
$SOUNDSPEED,1469.3
$GPS,081009,085405,6656.640,-5840.867,13,1.1,13,18.0