version: 66.07
glider: 99
mission: 63
dive: 346
start: 10 16 109 2 18 26
data:
$ID,99
$MISSION,63
$DIVE,346
$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,-826245.88
$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,6
$R_STBD_OVSHOOT,74
$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
$GPS1,021357,6648.744,-5843.321,11,1.1,11,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,021805,6648.744,-5843.321,35,1.1,35,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_ADD2_WB
$TGT_LATLONG,6651.000,-5910.000
$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,264.1,19869,-18.1,-10.000
$D_GRID,890
$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,-53.58,0.000,6,0.000,0.000,321,2170,3339,0,0,0,0,0,0
$GC,75,-1.32,-146.0,3.6,-17.8,11,90,10.27,2.55,0.00,0.000,4,0.000,0.000,2373,3612,3352,0,0,1,0,0,0
$GC,124,-1.32,-146.0,17.7,-12.1,20,129,0.00,3.12,0.00,0.000,6,0.000,0.000,2372,1991,3353,0,0,5,0,0,0
$GC,199,-1.32,-146.0,26.9,-12.4,29,200,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1989,3358,0,0,0,0,0,0
$GC,391,-1.32,-146.0,49.5,-11.6,47,396,0.00,3.10,0.00,0.000,4,0.000,0.000,2383,3785,3355,0,0,2,0,0,0
$GC,431,-1.32,-146.0,54.1,-11.5,50,436,0.00,3.22,0.00,0.000,6,0.000,0.000,2367,1939,3351,0,0,2,0,0,0
$GC,756,-1.32,-146.0,90.0,-10.9,80,760,0.00,3.03,0.00,0.000,4,0.000,0.000,2372,3625,3362,0,0,1,0,0,0
$GC,821,-1.32,-146.0,97.3,-10.8,85,827,0.00,2.67,0.00,0.000,6,0.000,0.000,2373,2139,3355,0,0,1,0,0,0
$GC,1147,-1.32,-146.0,131.7,-10.6,116,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2136,3352,0,0,0,0,0,0
$GC,1465,-1.32,-146.0,164.6,-10.1,146,1469,0.00,2.70,0.00,0.000,4,0.000,0.000,2374,3615,3353,0,0,3,0,0,0
$GC,1504,-1.32,-146.0,168.5,-10.3,149,1508,0.00,2.70,0.00,0.000,6,0.000,0.000,2371,2119,3357,0,0,1,0,0,0
$GC,1828,-1.32,-146.0,201.4,-10.1,179,1832,0.00,2.70,0.00,0.000,4,0.000,0.000,2370,3646,3361,0,0,0,0,0,0
$GC,1857,-1.32,-146.0,204.1,-10.1,181,1861,0.00,2.65,0.00,0.000,6,0.000,0.000,2371,2108,3359,0,0,0,0,0,0
$GC,2181,-1.32,-146.0,236.6,-9.9,211,2186,0.00,2.70,0.00,0.000,4,0.000,0.000,2375,3613,3351,0,0,2,0,0,0
$GC,2203,-1.32,-146.0,238.8,-9.9,212,2208,0.00,2.65,0.00,0.000,6,0.000,0.000,2375,2153,3355,0,0,1,0,0,0
$GC,2530,-1.32,-146.0,270.9,-9.9,243,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2144,3359,0,0,0,0,0,0
$GC,2846,-1.32,-146.0,302.3,-9.8,273,2851,0.00,2.67,0.00,0.000,4,0.000,0.000,2375,3634,3352,0,0,0,0,0,0
$GC,2886,-1.32,-146.0,306.1,-9.6,276,2890,0.00,2.67,0.00,0.000,6,0.000,0.000,2372,2077,3353,0,0,0,0,0,0
$GC,3211,-1.32,-146.0,338.0,-9.9,306,3215,0.00,2.80,0.00,0.000,4,0.000,0.000,2372,3739,3354,0,0,0,0,0,0
$GC,3243,-1.32,-146.0,341.2,-9.6,308,3248,0.00,2.80,0.00,0.000,6,0.000,0.000,2374,2175,3350,0,0,0,0,0,0
$GC,3568,-1.32,-146.0,372.8,-9.7,339,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2174,3354,0,0,0,0,0,0
$GC,3886,-1.32,-146.0,403.9,-9.6,369,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2179,3357,0,0,0,0,0,0
$GC,4205,-1.32,-146.0,434.9,-9.6,399,4209,0.00,2.50,0.00,0.000,4,0.000,0.000,2372,3604,3356,0,0,1,0,0,0
$GC,4237,-1.32,-146.0,438.1,-9.9,401,4243,0.00,2.75,0.00,0.000,6,0.000,0.000,2367,2068,3357,0,0,2,0,0,0
$STATE,4369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4369,begin apogee
$GC,4377,-0.31,0.0,451.0,9.7,414,4527,1.25,0.00,146.00,0.001,6,0.000,0.000,2635,2452,2747,1,0,0,0,0,0
$STATE,4530,end apogee,CONTROL_FINISHED_OK
$STATE,4530,begin climb
$GC,4533,1.32,146.0,453.3,0.0,429,4686,1.67,0.00,142.50,0.001,6,0.000,0.000,2980,2454,2155,0,0,0,0,0,0
$GC,5005,1.32,146.0,383.0,16.5,474,5010,0.35,2.85,0.00,0.000,4,0.000,0.000,2905,811,2152,0,0,0,0,0,0
$GC,5038,1.32,146.0,378.1,12.0,476,5044,0.28,2.90,0.00,0.000,6,0.000,0.000,2948,2435,2158,0,0,2,0,0,0
$GC,5362,1.32,146.0,329.8,15.0,507,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2436,2154,0,0,0,0,0,0
$GC,5684,1.32,146.0,282.0,14.9,537,5688,0.00,2.97,0.00,0.000,4,0.000,0.000,2948,800,2162,0,0,1,0,0,0
$GC,5727,1.32,146.0,275.0,14.9,540,5732,0.00,2.75,0.00,0.000,6,0.000,0.000,2949,2321,2149,0,0,0,0,0,0
$GC,6052,1.32,146.0,226.8,15.1,571,6053,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2317,2159,0,0,0,0,0,0
$GC,6374,1.32,146.0,179.7,14.9,601,6378,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2318,2153,0,0,0,0,0,0
$GC,6702,1.32,146.0,131.9,14.4,632,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2323,2158,0,0,0,0,0,0
$GC,7027,1.32,146.0,85.3,14.2,663,7031,0.00,2.38,0.00,0.000,4,0.000,0.000,2959,3686,2151,0,0,1,0,0,0
$GC,7048,1.32,146.0,82.1,14.2,664,7053,0.00,2.65,0.00,0.000,6,0.000,0.000,2951,2217,2153,0,0,0,0,0,0
$GC,7373,1.32,146.0,38.3,13.2,695,7377,0.00,2.65,0.00,0.000,4,0.000,0.000,2945,3579,2158,0,0,1,0,0,0
$GC,7400,1.32,146.0,34.7,13.3,697,7406,0.00,2.47,0.32,0.000,6,0.000,0.000,2954,2274,2156,0,0,0,0,0,0
$GC,7601,1.32,146.0,9.2,12.5,722,7605,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2273,2155,0,0,0,0,0,0
$STATE,7660,end climb,SURFACE_DEPTH_REACHED
$STATE,7660,begin surface coast
$FINISH,-0.0,1.026679
$STATE,7678,end surface coast,CONTROL_FINISHED_OK
$STATE,7678,begin surface
$SM_CCo,7703,67.53,0.001,0,0,1731,250.21
$SM_GC,-0.00,0.00,0.00,67.53,0.000,0.000,0.001,324,2043,1731,-10.74,-5.31,250.21
$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,0.03068
$HUMID,1078963216
$INTERNAL_PRESSURE,15.9772
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.6,999.0
$24V_AH,24.1,129.262
$10V_AH,10.7,29.852
$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,27.025,72.650,288.825,67.525,0.000,0.000,0.000,82.707,9.750,0.000,38.040,1248.634,5272.692,484.884,722.890,295.469,0.000,1070.496,0.000,591.922,1080.000,53.329,0.000
$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,591.189,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129528
$DATA_FILE_SIZE,22088,736
$CAP_FILE_SIZE,88743,0
$CFSIZE,260165632,239476736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,30,0,0
$SOUNDSPEED,1469.4
$GPS,161009,042919,6648.639,-5846.033,23,1.1,23,18.0