version: 66.07
glider: 99
mission: 63
dive: 315
start: 10 13 109 3 4 49
data:
$ID,99
$MISSION,63
$DIVE,315
$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,-825445.38
$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,1
$R_STBD_OVSHOOT,0
$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
$GPS1,030029,6658.375,-5721.913,9,1.1,9,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,030428,6658.375,-5721.913,25,1.1,25,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_ADD3_WB
$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,244.0,44794,-18.1,-10.000
$D_GRID,800
$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,-53.38,0.000,6,0.000,0.000,305,2183,3341,0,0,0,0,0,0
$GC,75,-1.32,-146.0,3.0,-14.1,11,90,10.45,2.75,0.00,0.000,4,0.000,0.000,2378,3684,3339,1,0,1,0,0,0
$GC,124,-1.32,-146.0,16.5,-11.0,20,129,0.00,3.28,0.00,0.000,6,0.000,0.000,2380,1979,3345,0,0,2,0,0,0
$GC,200,-1.32,-146.0,25.0,-11.1,30,201,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1978,3345,0,0,0,0,0,0
$GC,392,-1.32,-146.0,46.0,-10.7,48,397,0.00,3.22,0.00,0.000,4,0.000,0.000,2376,3678,3345,0,0,4,0,0,0
$GC,435,-1.32,-146.0,50.9,-11.0,51,441,0.00,2.75,0.00,0.000,6,0.000,0.000,2381,2121,3343,0,0,2,0,0,0
$GC,761,-1.32,-146.0,84.4,-10.2,82,765,0.00,2.83,0.00,0.000,4,0.000,0.000,2382,3611,3341,0,0,0,0,0,0
$GC,788,-1.32,-146.0,87.2,-10.3,84,792,0.00,2.80,0.00,0.000,6,0.000,0.000,2383,2175,3340,0,0,0,0,0,0
$GC,1113,-1.32,-146.0,119.1,-9.6,114,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2177,3343,0,0,0,0,0,0
$GC,1431,-1.32,-146.0,149.8,-9.5,144,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2174,3340,0,0,0,0,0,0
$GC,1750,-1.32,-146.0,180.0,-9.5,174,1754,0.00,2.75,0.00,0.000,4,0.000,0.000,2387,3741,3343,0,0,0,0,0,0
$GC,1778,-1.32,-146.0,182.6,-9.6,176,1782,0.00,2.88,0.00,0.000,6,0.000,0.000,2382,2218,3346,0,0,2,0,0,0
$GC,2102,-1.32,-146.0,213.1,-9.3,206,2107,0.00,2.88,0.00,0.000,4,0.000,0.000,2381,3692,3340,0,0,0,0,0,0
$GC,2134,-1.32,-146.0,216.1,-9.2,208,2140,0.00,2.88,0.00,0.000,6,0.000,0.000,2382,2056,3342,0,0,2,0,0,0
$GC,2460,-1.32,-146.0,246.3,-9.2,239,2464,0.00,2.97,0.00,0.000,4,0.000,0.000,2381,3684,3339,0,0,0,0,0,0
$GC,2499,-1.32,-146.0,250.0,-9.5,242,2503,0.00,2.78,0.00,0.000,6,0.000,0.000,2378,2040,3346,0,0,1,0,0,0
$GC,2824,-1.32,-146.0,280.1,-9.2,272,2829,0.00,3.17,0.00,0.000,4,0.000,0.000,2378,3679,3345,0,0,2,0,0,0
$GC,2863,-1.32,-146.0,283.8,-9.3,275,2868,0.00,2.85,0.00,0.000,6,0.000,0.000,2380,2099,3341,0,0,1,0,0,0
$GC,3188,-1.32,-146.0,313.8,-9.2,305,3193,0.00,2.95,0.00,0.000,4,0.000,0.000,2388,3708,3344,0,0,1,0,0,0
$GC,3216,-1.32,-146.0,316.4,-9.1,307,3221,0.00,2.97,0.00,0.000,6,0.000,0.000,2380,2136,3342,0,0,1,0,0,0
$GC,3540,-1.32,-146.0,346.3,-9.1,337,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2135,3342,0,0,0,0,0,0
$GC,3859,-1.32,-146.0,375.7,-9.3,367,3863,0.00,2.75,0.00,0.000,4,0.000,0.000,2384,3672,3342,0,0,0,0,0,0
$GC,3898,-1.32,-146.0,379.2,-9.3,370,3903,0.00,3.08,0.00,0.000,6,0.000,0.000,2374,2120,3344,0,0,1,0,0,0
$GC,4223,-1.32,-146.0,409.1,-9.2,400,4228,0.00,2.78,0.00,0.000,4,0.000,0.000,2380,3668,3341,0,0,0,0,0,0
$GC,4245,-1.32,-146.0,411.2,-8.9,401,4250,0.00,2.80,0.00,0.000,6,0.000,0.000,2381,2131,3343,0,0,1,0,0,0
$GC,4572,-1.32,-146.0,440.9,-9.2,432,4577,0.00,2.70,0.00,0.000,4,0.000,0.000,2385,3687,3343,0,0,1,0,0,0
$GC,4593,-1.32,-146.0,443.2,-9.1,433,4598,0.00,2.75,0.00,0.000,6,0.000,0.000,2387,2118,3341,0,0,1,0,0,0
$STATE,4671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4671,begin apogee
$GC,4678,-0.31,0.0,450.4,9.2,441,4824,1.12,0.00,142.02,0.001,6,0.000,0.000,2607,2467,2747,0,0,0,0,0,0
$STATE,4827,end apogee,CONTROL_FINISHED_OK
$STATE,4828,begin climb
$GC,4830,1.32,146.0,452.6,0.0,456,4983,1.80,2.22,143.45,0.001,4,0.000,0.000,2979,3668,2153,1,0,1,0,0,0
$GC,4999,1.32,146.0,431.8,16.9,472,5005,0.28,2.78,0.00,0.000,6,0.000,0.000,2925,2244,2150,0,0,1,0,0,0
$GC,5324,1.32,146.0,389.5,12.9,503,5327,0.20,0.00,0.08,0.000,6,0.000,0.000,2980,2244,2153,0,0,0,0,0,0
$GC,5642,1.32,146.0,336.5,16.8,533,5648,0.32,2.70,0.00,0.000,4,0.000,0.000,2905,3798,2155,0,0,1,0,0,0
$GC,5682,1.32,146.0,331.2,12.2,536,5688,0.57,2.80,0.00,0.000,6,0.000,0.000,2975,2220,2150,1,0,1,0,0,0
$GC,6006,1.32,146.0,277.9,16.6,566,6008,0.38,0.00,0.00,0.000,6,0.000,0.000,2903,2222,2145,0,0,0,0,0,0
$GC,6325,1.32,146.0,238.3,12.5,596,6333,0.40,2.62,0.00,0.000,4,0.000,0.000,2986,3742,2149,0,0,1,0,0,0
$GC,6366,1.32,146.0,231.4,17.2,599,6372,0.30,2.70,0.00,0.000,6,0.000,0.000,2941,2235,2153,0,0,1,0,0,0
$GC,6691,1.32,146.0,185.3,14.0,630,6696,0.00,2.60,0.08,0.000,4,0.000,0.000,2933,3689,2153,0,0,1,0,0,0
$GC,6719,1.32,146.0,181.4,14.5,632,6723,0.00,2.85,0.00,0.000,6,0.000,0.000,2936,2252,2151,0,0,3,0,0,0
$GC,7043,1.32,146.0,136.0,13.8,662,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2257,2151,0,0,0,0,0,0
$GC,7363,1.32,146.0,92.0,13.7,692,7368,0.00,2.60,0.00,0.000,4,0.000,0.000,2939,3770,2152,0,0,2,0,0,0
$GC,7391,1.32,146.0,88.1,13.2,694,7396,0.00,2.95,0.00,0.000,6,0.000,0.000,2940,2217,2148,0,0,1,0,0,0
$GC,7716,1.32,146.0,45.2,13.0,724,7721,0.00,2.88,0.00,0.000,4,0.000,0.000,2936,3792,2149,0,0,1,0,0,0
$GC,7737,1.32,146.0,42.3,12.5,725,7742,0.00,2.92,0.00,0.000,6,0.000,0.000,2933,2185,2159,0,0,1,0,0,0
$GC,7935,1.32,146.0,17.6,12.6,745,7940,0.00,2.70,0.00,0.000,4,0.000,0.000,2939,3660,2151,0,0,0,0,0,0
$GC,7959,1.32,146.0,14.8,12.4,749,7964,0.00,2.58,0.00,0.000,6,0.000,0.000,2936,2276,2157,0,0,1,0,0,0
$GC,8032,1.32,146.0,5.6,12.3,762,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2268,2156,0,0,0,0,0,0
$STATE,8062,end climb,SURFACE_DEPTH_REACHED
$STATE,8062,begin surface coast
$FINISH,-0.0,1.026860
$STATE,8082,end surface coast,CONTROL_FINISHED_OK
$STATE,8082,begin surface
$SM_CCo,8107,67.38,0.001,0,0,1728,250.21
$SM_GC,-0.00,0.00,0.00,67.38,0.000,0.000,0.001,341,2087,1728,-10.65,-3.99,250.21
$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,1078783861
$INTERNAL_PRESSURE,15.7526
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.3,999.0
$24V_AH,24.1,121.662
$10V_AH,10.7,28.642
$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,28.975,102.325,285.625,67.375,0.000,0.000,0.000,82.717,9.750,0.000,28.492,1349.083,5509.606,490.449,760.018,310.786,0.000,1123.472,0.000,628.271,2160.000,55.553,0.000
$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,620.374,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129548
$DATA_FILE_SIZE,25214,771
$CAP_FILE_SIZE,101189,0
$CFSIZE,260165632,240779264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,41,0,0
$SOUNDSPEED,1470.6
$GPS,131009,052226,6657.847,-5724.392,23,1.1,23,18.0