version: 66.07
glider: 99
mission: 63
dive: 296
start: 10 11 109 7 29 22
data:
$ID,99
$MISSION,63
$DIVE,296
$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,-824961.81
$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,11
$R_STBD_OVSHOOT,4
$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
$GPS1,072508,6703.812,-5717.874,25,1.1,26,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,072900,6703.812,-5717.874,22,1.1,22,18.0
$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,76.0,21626,-18.1,-10.000
$D_GRID,768
$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,-53.42,0.000,6,0.000,0.000,307,2152,3358,0,0,0,0,0,0
$GC,75,-1.32,-146.0,3.3,-16.0,11,90,10.32,2.92,0.00,0.000,4,0.000,0.000,2389,3700,3348,0,0,1,0,0,0
$GC,141,-1.32,-146.0,18.5,-11.3,23,146,0.00,2.95,0.00,0.000,6,0.000,0.000,2383,2116,3354,0,0,1,0,0,0
$GC,211,-1.32,-146.0,26.2,-11.1,31,212,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2114,3347,0,0,0,0,0,0
$GC,402,-1.32,-146.0,46.8,-10.6,49,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2124,3348,0,0,0,0,0,0
$GC,593,-1.32,-146.0,66.5,-10.0,67,598,0.22,2.80,0.00,0.000,4,0.000,0.000,2349,3665,3355,0,0,1,0,0,0
$GC,621,-1.32,-146.0,69.7,-12.0,69,627,0.30,2.88,0.00,0.000,6,0.000,0.000,2385,2073,3356,0,0,0,0,0,0
$GC,946,-1.32,-146.0,101.4,-9.5,99,951,0.00,3.05,0.00,0.000,4,0.000,0.000,2386,3800,3350,0,0,1,0,0,0
$GC,980,-1.32,-146.0,104.6,-9.2,101,985,0.00,3.22,0.00,0.000,6,0.000,0.000,2388,2093,3357,0,0,2,0,0,0
$GC,1304,-1.32,-146.0,135.2,-9.4,132,1309,0.00,2.78,0.00,0.000,4,0.000,0.000,2392,3675,3354,0,0,0,0,0,0
$GC,1332,-1.32,-146.0,137.7,-9.2,134,1337,0.00,2.72,0.00,0.000,6,0.000,0.000,2394,2146,3354,0,0,1,0,0,0
$GC,1657,-1.32,-146.0,167.7,-9.2,164,1659,0.20,0.00,0.00,0.000,6,0.000,0.000,2352,2145,3356,0,0,0,0,0,0
$GC,1975,-1.32,-146.0,202.5,-11.0,194,1981,0.22,2.70,0.00,0.000,4,0.000,0.000,2385,3678,3350,0,0,4,0,0,0
$GC,2008,-1.32,-146.0,205.8,-9.4,196,2014,0.00,2.67,0.00,0.000,6,0.000,0.000,2380,2180,3348,0,0,0,0,0,0
$GC,2333,-1.32,-146.0,235.3,-9.1,227,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2180,3353,0,0,0,0,0,0
$GC,2652,-1.32,-146.0,264.4,-9.0,257,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2178,3352,0,0,0,0,0,0
$GC,2970,-1.32,-146.0,293.3,-9.2,287,2975,0.00,2.65,0.00,0.000,4,0.000,0.000,2384,3658,3355,0,0,1,0,0,0
$GC,2999,-1.32,-146.0,295.9,-9.1,289,3003,0.00,2.65,0.00,0.000,6,0.000,0.000,2381,2199,3347,0,0,1,0,0,0
$GC,3323,-1.32,-146.0,325.3,-9.0,319,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2201,3352,0,0,0,0,0,0
$GC,3642,-1.32,-146.0,354.1,-8.9,349,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2202,3349,0,0,0,0,0,0
$GC,3961,-1.32,-146.0,382.9,-9.0,379,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2199,3351,0,0,0,0,0,0
$GC,4279,-1.32,-146.0,411.5,-9.0,409,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2199,3350,0,0,0,0,0,0
$GC,4598,-1.32,-146.0,440.2,-9.1,439,4602,0.00,2.62,0.00,0.000,4,0.000,0.000,2394,3723,3346,0,0,1,0,0,0
$GC,4626,-1.32,-146.0,442.7,-8.9,441,4630,0.00,2.80,0.00,0.000,6,0.000,0.000,2386,2037,3349,0,0,2,0,0,0
$STATE,4714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4714,begin apogee
$GC,4721,-0.31,0.0,450.8,9.0,449,4872,1.12,0.00,144.20,0.001,6,0.000,0.000,2615,2422,2751,1,0,0,0,0,0
$STATE,4875,end apogee,CONTROL_FINISHED_OK
$STATE,4875,begin climb
$GC,4878,1.32,146.0,453.1,0.0,464,5031,1.70,2.42,142.88,0.001,4,0.000,0.000,2963,3670,2154,0,0,1,0,0,0
$GC,5047,1.32,146.0,433.5,15.4,480,5052,0.00,2.53,0.00,0.000,6,0.000,0.000,2958,2271,2154,0,0,1,0,0,0
$GC,5372,1.32,146.0,382.9,15.6,511,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2266,2159,0,0,0,0,0,0
$GC,5694,1.32,146.0,333.1,15.5,541,5698,0.00,2.50,0.00,0.000,4,0.000,0.000,2962,3686,2152,0,0,1,0,0,0
$GC,5721,1.32,146.0,328.3,15.4,543,5725,0.00,2.50,0.00,0.000,6,0.000,0.000,2958,2309,2155,0,0,1,0,0,0
$GC,6045,1.32,146.0,277.8,15.5,573,6047,0.25,0.00,0.00,0.000,6,0.000,0.000,2914,2306,2151,0,0,0,0,0,0
$GC,6364,1.32,146.0,236.5,13.0,603,6366,0.25,0.00,0.00,0.000,6,0.000,0.000,2958,2309,2152,0,0,0,0,0,0
$GC,6682,1.32,146.0,187.6,15.3,633,6684,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2318,2155,0,0,0,0,0,0
$GC,7004,1.32,146.0,138.6,15.2,663,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2310,2147,0,0,0,0,0,0
$GC,7321,1.32,146.0,90.7,14.8,693,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2305,2149,0,0,0,0,0,0
$GC,7640,1.32,146.0,44.4,14.1,723,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2309,2154,0,0,0,0,0,0
$GC,7830,1.32,146.0,18.3,13.7,742,7835,0.00,2.45,0.00,0.000,4,0.000,0.000,2961,3677,2151,0,0,0,0,0,0
$GC,7852,1.32,146.0,15.2,13.6,746,7858,0.00,2.65,0.70,0.000,6,0.000,0.000,2960,2240,2157,0,0,2,0,0,0
$GC,7926,1.32,146.0,5.4,13.3,759,7930,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2244,2153,0,0,0,0,0,0
$STATE,7951,end climb,SURFACE_DEPTH_REACHED
$STATE,7951,begin surface coast
$FINISH,-0.0,1.026850
$STATE,7963,end surface coast,CONTROL_FINISHED_OK
$STATE,7963,begin surface
$SM_CCo,7987,66.97,0.001,0,0,1729,250.21
$SM_GC,-0.00,0.00,0.00,66.97,0.000,0.000,0.001,336,2239,1729,-10.64,0.23,250.21
$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,1078932248
$INTERNAL_PRESSURE,15.9479
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.8,999.0
$24V_AH,24.1,117.011
$10V_AH,10.7,27.901
$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,27.975,55.200,287.775,66.975,0.000,0.000,0.000,81.941,9.750,0.000,24.639,1300.305,5519.720,453.784,722.575,297.654,0.000,1047.391,0.000,600.511,2160.000,53.433,0.000
$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,617.482,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129516
$DATA_FILE_SIZE,25254,766
$CAP_FILE_SIZE,89680,0
$CFSIZE,260165632,241582080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,22,0,0
$SOUNDSPEED,1470.9
$GPS,111009,094504,6704.018,-5715.098,27,1.1,28,18.0