version: 66.07
glider: 99
mission: 63
dive: 327
start: 10 14 109 7 6 15
data:
$ID,99
$MISSION,63
$DIVE,327
$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,-825763.88
$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,1
$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
$GPS1,070212,6653.682,-5753.342,19,1.1,19,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,070554,6653.682,-5753.342,11,1.1,12,18.0
$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,258.5,21673,-18.1,-10.000
$D_GRID,830
$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,-53.20,0.000,6,0.000,0.000,325,2226,3347,0,0,0,0,0,0
$GC,74,-1.32,-146.0,3.8,-18.6,11,90,10.12,2.90,0.00,0.000,4,0.000,0.000,2383,564,3343,0,0,3,0,0,0
$GC,118,-1.32,-146.0,17.2,-11.6,19,124,0.12,3.17,0.00,0.000,6,0.000,0.000,2343,2495,3347,0,0,3,0,0,0
$GC,194,-1.32,-146.0,27.5,-13.9,28,196,0.25,0.00,0.00,0.000,6,0.000,0.000,2386,2493,3348,0,0,0,0,0,0
$GC,386,-1.32,-146.0,48.6,-10.9,46,391,0.00,3.10,0.00,0.000,4,0.000,0.000,2390,739,3348,0,0,2,0,0,0
$GC,429,-1.32,-146.0,53.3,-10.3,49,435,0.00,3.05,0.00,0.000,6,0.000,0.000,2389,2340,3349,0,0,3,0,0,0
$GC,755,-1.32,-146.0,86.1,-9.9,80,759,0.00,2.80,0.00,0.000,4,0.000,0.000,2384,706,3344,0,0,1,0,0,0
$GC,782,-1.32,-146.0,88.8,-10.0,82,788,0.30,2.83,0.00,0.000,6,0.000,0.000,2351,2324,3350,0,0,3,0,0,0
$GC,1107,-1.32,-146.0,125.6,-11.2,112,1109,0.22,0.00,0.00,0.000,6,0.000,0.000,2395,2313,3346,0,0,0,0,0,0
$GC,1425,-1.32,-146.0,155.1,-9.0,142,1431,0.22,2.83,0.00,0.000,4,0.000,0.000,2343,665,3351,0,0,1,0,0,0
$GC,1465,-1.32,-146.0,159.3,-10.7,145,1470,0.00,3.35,0.00,0.000,6,0.000,0.000,2352,2413,3351,0,0,1,0,0,0
$GC,1789,-1.32,-146.0,194.4,-10.9,175,1795,0.22,3.10,0.00,0.000,4,0.000,0.000,2390,697,3344,0,0,1,0,0,0
$GC,1830,-1.32,-146.0,198.1,-9.0,178,1836,0.40,3.15,0.00,0.000,6,0.000,0.000,2355,2419,3345,0,0,2,0,0,0
$GC,2154,-1.32,-146.0,232.9,-10.6,208,2159,0.00,3.28,0.00,0.000,4,0.000,0.000,2348,521,3349,0,0,2,0,0,0
$GC,2193,-1.32,-146.0,237.1,-10.6,211,2198,0.00,3.17,0.00,0.000,6,0.000,0.000,2347,2343,3350,0,0,1,0,0,0
$GC,2518,-1.32,-146.0,271.8,-10.8,241,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2351,3345,0,0,0,0,0,0
$GC,2836,-1.32,-146.0,305.7,-10.8,271,2842,0.32,2.83,0.00,0.000,4,0.000,0.000,2412,695,3346,0,0,1,0,0,0
$GC,2881,-1.32,-146.0,309.5,-8.5,274,2887,0.60,3.17,0.00,0.000,6,0.000,0.000,2339,2464,3349,1,0,3,0,0,0
$GC,3212,-1.32,-146.0,346.9,-11.6,306,3217,0.35,3.08,0.00,0.000,4,0.000,0.000,2394,730,3348,0,0,0,0,0,0
$GC,3268,-1.32,-146.0,352.0,-8.7,310,3274,0.30,3.03,0.00,0.000,6,0.000,0.000,2325,2370,3350,0,0,2,0,0,0
$GC,3592,-1.32,-146.0,389.1,-11.7,341,3598,0.28,2.92,0.00,0.000,4,0.000,0.000,2391,719,3351,0,0,1,0,0,0
$GC,3621,-1.32,-146.0,391.9,-9.1,343,3626,0.00,2.80,0.00,0.000,6,0.000,0.000,2391,2376,3351,0,0,1,0,0,0
$GC,3946,-1.32,-146.0,420.4,-8.7,373,3951,0.30,2.88,0.00,0.000,4,0.000,0.000,2338,681,3351,0,0,1,0,0,0
$GC,3979,-1.32,-146.0,424.2,-11.1,375,3985,0.43,2.85,0.00,0.000,6,0.000,0.000,2390,2302,3348,0,0,0,0,0,0
$STATE,4280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4280,begin apogee
$GC,4287,-0.31,0.0,450.2,8.5,404,4435,0.93,0.00,143.88,0.001,6,0.000,0.000,2626,2435,2753,0,0,0,0,0,0
$STATE,4438,end apogee,CONTROL_FINISHED_OK
$STATE,4438,begin climb
$GC,4441,1.32,146.0,452.2,0.0,419,4595,1.73,2.53,142.60,0.001,4,0.000,0.000,2980,3700,2151,1,0,2,0,0,0
$GC,4612,1.32,146.0,431.0,17.6,435,4617,0.40,2.85,0.00,0.000,6,0.000,0.000,2912,2085,2151,0,0,0,0,0,0
$GC,4936,1.32,146.0,389.2,12.9,466,4942,0.30,2.88,0.00,0.000,4,0.000,0.000,2952,3687,2156,0,0,2,0,0,0
$GC,4991,1.32,146.0,380.7,15.0,470,4997,0.00,2.80,0.00,0.000,6,0.000,0.000,2955,2210,2155,0,0,2,0,0,0
$GC,5316,1.32,146.0,331.5,15.3,501,5321,0.00,2.70,0.00,0.000,4,0.000,0.000,2957,3722,2153,0,0,3,0,0,0
$GC,5348,1.32,146.0,326.4,15.5,503,5354,0.00,2.70,0.00,0.000,6,0.000,0.000,2949,2214,2150,0,0,0,0,0,0
$GC,5673,1.32,146.0,277.3,15.1,534,5677,0.00,2.75,0.00,0.000,4,0.000,0.000,2958,3692,2154,0,0,2,0,0,0
$GC,5700,1.32,146.0,273.1,14.9,536,5705,0.00,2.67,0.00,0.000,6,0.000,0.000,2951,2155,2155,0,0,1,0,0,0
$GC,6025,1.32,146.0,224.1,15.3,566,6029,0.00,2.80,0.00,0.000,4,0.000,0.000,2955,3714,2157,0,0,2,0,0,0
$GC,6063,1.32,146.0,218.2,15.4,569,6068,0.00,2.60,0.00,0.000,6,0.000,0.000,2961,2243,2157,0,0,0,0,0,0
$GC,6388,1.32,146.0,169.5,14.9,599,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2237,2150,0,0,0,0,0,0
$GC,6708,1.32,146.0,122.3,14.7,629,6713,0.00,2.55,0.00,0.000,4,0.000,0.000,2954,3749,2158,0,0,2,0,0,0
$GC,6741,1.32,146.0,117.0,14.7,631,6746,0.00,2.92,0.00,0.000,6,0.000,0.000,2953,2242,2148,0,0,1,0,0,0
$GC,7065,1.32,146.0,70.4,14.2,662,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2245,2154,0,0,0,0,0,0
$GC,7386,1.32,146.0,27.4,13.1,692,7390,0.00,2.62,0.00,0.000,4,0.000,0.000,2952,3705,2158,0,0,0,0,0,0
$GC,7425,1.32,146.0,22.2,12.6,695,7429,0.00,2.58,0.00,0.000,6,0.000,0.000,2955,2258,2158,0,0,0,0,0,0
$STATE,7586,end climb,SURFACE_DEPTH_REACHED
$STATE,7586,begin surface coast
$FINISH,-0.0,1.026582
$STATE,7602,end surface coast,CONTROL_FINISHED_OK
$STATE,7602,begin surface
$SM_CCo,7627,67.53,0.001,0,0,1723,250.70
$SM_GC,-0.00,0.00,0.00,67.53,0.000,0.000,0.001,334,2178,1723,-10.69,-1.50,250.70
$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,1078777410
$INTERNAL_PRESSURE,15.567
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.8,999.0
$24V_AH,24.1,124.653
$10V_AH,10.7,29.119
$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,30.850,98.650,286.475,67.525,0.000,0.000,0.000,82.465,9.750,0.000,13.806,1261.189,5157.134,488.914,709.682,297.957,0.000,1086.348,0.000,601.034,2160.000,53.806,0.000
$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,582.890,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129548
$DATA_FILE_SIZE,22109,724
$CAP_FILE_SIZE,95847,0
$CFSIZE,260165632,240267264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,50,0,0
$SOUNDSPEED,1471.2
$GPS,141009,091530,6653.287,-5755.856,8,1.1,8,18.0