version: 66.07
glider: 99
mission: 63
dive: 289
start: 10 10 109 15 39 19
data:
$ID,99
$MISSION,63
$DIVE,289
$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,-824801.94
$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,78
$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
$GPS1,153502,6702.274,-5736.701,32,1.1,33,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-70.0
$GPS2,153857,6702.274,-5736.701,25,1.1,25,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$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,69.8,35195,-18.1,-10.000
$D_GRID,831
$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,-53.58,0.000,6,0.000,0.000,325,2153,3358,0,0,0,0,0,0
$GC,75,-1.32,-146.0,2.8,-13.3,11,90,10.25,2.88,0.00,0.000,4,0.000,0.000,2458,3660,3362,1,0,2,0,0,0
$GC,136,-1.32,-146.0,16.0,-7.8,22,142,1.12,2.62,0.00,0.000,6,0.000,0.000,2320,2143,3360,1,0,0,0,0,0
$GC,207,-1.32,-146.0,28.4,-19.0,31,210,1.00,0.00,0.00,0.000,6,0.000,0.000,2401,2149,3358,1,0,0,0,0,0
$GC,399,-1.32,-146.0,48.7,-10.3,49,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2141,3359,0,0,0,0,0,0
$GC,590,-1.32,-146.0,67.9,-10.0,67,596,0.30,2.92,0.00,0.000,4,0.000,0.000,2315,3591,3358,0,0,2,0,0,0
$GC,611,-1.32,-146.0,70.7,-11.9,68,618,0.47,2.95,0.00,0.000,6,0.000,0.000,2398,2098,3359,1,0,0,0,0,0
$GC,937,-1.32,-146.0,102.1,-9.4,99,941,0.00,2.67,0.00,0.000,4,0.000,0.000,2394,3601,3357,0,0,2,0,0,0
$GC,964,-1.32,-146.0,104.7,-9.4,101,970,0.30,2.58,0.00,0.000,6,0.000,0.000,2355,2166,3354,0,0,1,0,0,0
$GC,1291,-1.32,-146.0,140.3,-10.8,131,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2172,3358,0,0,0,0,0,0
$GC,1607,-1.32,-146.0,174.7,-10.8,161,1612,0.00,2.67,0.00,0.000,4,0.000,0.000,2360,3639,3357,0,0,1,0,0,0
$GC,1635,-1.32,-146.0,177.7,-10.5,163,1640,0.00,2.92,0.00,0.000,6,0.000,0.000,2352,2124,3359,0,0,2,0,0,0
$GC,1959,-1.32,-146.0,212.2,-10.5,193,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2133,3356,0,0,0,0,0,0
$GC,2278,-1.32,-146.0,245.8,-10.6,223,2282,0.00,2.72,0.00,0.000,4,0.000,0.000,2346,3594,3355,0,0,1,0,0,0
$GC,2322,-1.32,-146.0,250.4,-10.3,226,2326,0.00,2.65,0.00,0.000,6,0.000,0.000,2357,2139,3360,0,0,0,0,0,0
$GC,2646,-1.32,-146.0,284.4,-10.4,257,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2139,3359,0,0,0,0,0,0
$GC,2964,-1.32,-146.0,317.8,-10.5,287,2969,0.00,3.17,0.00,0.000,4,0.000,0.000,2351,3709,3351,0,0,3,0,0,0
$GC,3003,-1.32,-146.0,321.8,-10.5,290,3008,0.08,2.78,0.00,0.000,6,0.000,0.000,2353,2137,3357,0,0,0,0,0,0
$GC,3327,-1.32,-146.0,355.6,-10.5,320,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2136,3359,0,0,0,0,0,0
$GC,3646,-1.32,-146.0,388.8,-10.3,350,3654,0.00,2.65,0.00,0.000,4,0.000,0.000,2356,3600,3360,0,0,0,0,0,0
$GC,3687,-1.32,-146.0,393.2,-10.4,353,3692,0.00,2.78,0.00,0.000,6,0.000,0.000,2356,2068,3353,0,0,1,0,0,0
$GC,4011,-1.32,-146.0,426.8,-10.4,384,4016,0.00,2.70,0.00,0.000,4,0.000,0.000,2353,3627,3354,0,0,1,0,0,0
$GC,4050,-1.32,-146.0,430.8,-10.2,387,4054,0.00,2.72,0.00,0.000,6,0.000,0.000,2358,2111,3361,0,0,0,0,0,0
$STATE,4234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4234,begin apogee
$GC,4242,-0.31,0.0,450.0,10.4,404,4392,1.20,0.00,145.50,0.001,6,0.000,0.000,2603,2347,2743,0,0,0,0,0,0
$STATE,4394,end apogee,CONTROL_FINISHED_OK
$STATE,4394,begin climb
$GC,4397,1.32,146.0,452.7,0.0,419,4547,1.90,0.00,144.07,0.001,6,0.000,0.000,3004,2343,2152,1,0,0,0,0,0
$GC,4868,1.32,146.0,373.1,19.2,464,4873,0.47,0.00,0.00,0.000,6,0.000,0.000,2924,2340,2155,0,0,0,0,0,0
$GC,5192,1.32,146.0,328.2,13.5,495,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2346,2149,0,0,0,0,0,0
$GC,5513,1.32,146.0,285.4,13.3,525,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2348,2152,0,0,0,0,0,0
$GC,5832,1.32,146.0,242.8,13.6,555,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2334,2150,0,0,0,0,0,0
$GC,6151,1.32,146.0,200.3,13.5,585,6156,0.00,2.72,0.00,0.000,4,0.000,0.000,2914,813,2149,0,0,1,0,0,0
$GC,6172,1.32,146.0,197.0,13.0,586,6178,0.40,2.78,0.00,0.000,6,0.000,0.000,3000,2393,2151,0,0,2,0,0,0
$GC,6497,1.32,146.0,137.5,18.6,617,6499,0.50,0.00,0.00,0.000,6,0.000,0.000,2918,2383,2150,0,0,0,0,0,0
$GC,6815,1.32,146.0,97.6,12.3,647,6821,0.32,3.10,0.00,0.000,4,0.000,0.000,3015,813,2152,0,0,2,0,0,0
$GC,6844,1.32,146.0,92.9,17.4,649,6850,0.60,2.88,0.00,0.000,6,0.000,0.000,2946,2339,2147,1,0,1,0,0,0
$GC,7168,1.32,146.0,47.5,13.5,679,7169,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2340,2146,0,0,0,0,0,0
$GC,7359,1.32,146.0,22.1,13.1,697,7360,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2343,2155,0,0,0,0,0,0
$STATE,7512,end climb,SURFACE_DEPTH_REACHED
$STATE,7513,begin surface coast
$FINISH,-0.0,1.026893
$STATE,7528,end surface coast,CONTROL_FINISHED_OK
$STATE,7528,begin surface
$SM_CCo,7552,66.85,0.001,0,0,1725,250.70
$SM_GC,-0.00,0.00,0.00,66.85,0.000,0.000,0.001,323,2156,1725,-10.75,-2.06,250.70
$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,0.03068
$HUMID,1078916764
$INTERNAL_PRESSURE,16.0162
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.7,999.0
$24V_AH,24.1,115.321
$10V_AH,10.7,27.630
$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,32.075,56.675,289.575,66.850,0.000,0.000,0.000,81.754,9.750,0.000,27.725,1220.517,5204.658,463.175,692.976,281.296,0.000,1027.208,0.000,568.676,2160.000,55.687,0.000
$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,582.936,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129584
$DATA_FILE_SIZE,22121,725
$CAP_FILE_SIZE,84786,0
$CFSIZE,260165632,241881088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,6,23,0,0
$SOUNDSPEED,1470.4
$GPS,101009,174735,6702.521,-5734.040,17,1.1,17,18.0