version: 66.06
glider: 80
mission: 97
dive: 26
start: 1 20 110 18 50 9
data:
$ID,80
$MISSION,97
$DIVE,26
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$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,170
$T_MISSION,220
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,-2
$D_OFFGRID,1050
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.02764
$MASS,51528
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-607123.06
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,863
$PITCH_MAX,3325
$C_PITCH,2670
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3772
$ROLL_DEG,40
$C_ROLL_DIVE,1986
$C_ROLL_CLIMB,1986
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,0
$R_STBD_OVSHOOT,0
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,403
$VBD_MAX,3857
$C_VBD,2837
$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,-0.16162726
$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
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044304794
$SEABIRD_T_H,0.00064686994
$SEABIRD_T_I,2.8000688e-05
$SEABIRD_T_J,3.1833417e-06
$SEABIRD_C_G,-9.8991232
$SEABIRD_C_H,1.099651
$SEABIRD_C_I,-0.0012204468
$SEABIRD_C_J,0.00018128238
$GPS1,184604,4804.342,-12547.206,7,1.1,7,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-70.0
$GPS2,184919,4804.342,-12547.206,17,1.1,17,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.249,-0.081
$KALMAN_X,4966.1,-3.0,172.0,-14532.7,614.7
$KALMAN_Y,-2342.3,-84.1,-28.0,-6172.7,-574.7
$MHEAD_RNG_PITCHd_Wd,234.1,205747,-17.8,-9.804
$D_GRID,1050
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.99,-146.0,0.0,0.0,0,63,0.00,0.00,-45.40,0.000,2,0.000,0.000,845,1982,3193,0,0,0,0,0,0
$GC,65,-0.99,-146.0,3.9,-13.9,9,87,7.85,2.70,-7.85,0.000,4,0.004,0.004,2442,3493,3438,3,0,6,0,0,0
$GC,109,-0.99,-146.0,18.6,-18.1,17,115,0.00,3.17,0.00,0.000,6,0.000,0.004,2442,1980,3437,0,0,8,0,0,0
$GC,451,-0.99,-146.0,77.0,-15.8,78,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1981,3437,0,0,0,0,0,0
$GC,782,-0.99,-146.0,126.1,-14.5,111,787,0.00,3.20,0.00,0.000,4,0.000,0.004,2442,440,3439,0,0,7,0,0,0
$GC,803,-0.99,-146.0,129.3,-14.0,112,809,0.00,3.17,0.00,0.000,6,0.000,0.003,2442,2088,3437,0,0,7,0,0,0
$GC,1123,-0.99,-146.0,173.4,-13.5,135,1128,0.00,3.22,0.00,0.000,4,0.000,0.004,2442,387,3438,0,0,7,0,0,0
$GC,1143,-0.99,-146.0,176.3,-13.5,136,1148,0.00,2.97,0.00,0.000,6,0.000,0.003,2442,2059,3436,0,0,6,0,0,0
$GC,1464,-0.99,-146.0,218.8,-13.0,152,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2060,3437,0,0,0,0,0,0
$GC,1774,-0.99,-146.0,258.9,-12.9,167,1778,0.00,2.70,0.00,0.000,4,0.000,0.004,2443,483,3438,0,0,4,0,0,0
$GC,1805,-0.99,-146.0,263.0,-12.6,168,1811,0.00,3.12,0.00,0.000,6,0.000,0.003,2444,2041,3436,0,0,7,0,0,0
$GC,2160,-0.99,-146.0,307.9,-12.6,184,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2042,3437,0,0,0,0,0,0
$GC,2464,-0.99,-146.0,345.8,-12.5,189,2469,0.00,3.35,0.00,0.000,4,0.000,0.004,2442,350,3438,0,0,7,0,0,0
$GC,2490,-0.99,-146.0,349.2,-12.7,189,2495,0.00,3.40,0.00,0.000,6,0.000,0.003,2443,2195,3437,0,0,7,0,0,0
$GC,2822,-0.99,-146.0,389.8,-12.2,195,2827,0.00,2.97,0.00,0.000,4,0.000,0.004,2441,383,3438,0,0,5,0,0,0
$GC,2864,-0.99,-146.0,395.1,-12.1,195,2869,0.00,3.20,0.00,0.000,6,0.000,0.003,2442,2068,3436,0,0,9,0,0,0
$GC,3179,-0.99,-146.0,433.2,-12.1,201,3185,0.00,3.15,0.00,0.000,4,0.000,0.004,2442,449,3437,0,0,7,0,0,0
$GC,3200,-0.99,-146.0,435.8,-12.2,201,3205,0.00,2.95,0.00,0.000,6,0.000,0.003,2442,2139,3436,0,0,6,0,0,0
$GC,3537,-0.99,-146.0,476.0,-11.9,207,3542,0.00,2.78,0.00,0.000,4,0.000,0.004,2442,516,3438,0,0,5,0,0,0
$GC,3574,-0.99,-146.0,480.5,-11.7,207,3579,0.00,2.42,0.00,0.000,6,0.000,0.003,2442,2085,3437,0,0,5,0,0,0
$STATE,3777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3777,begin apogee
$GC,3783,-0.23,0.0,504.6,11.9,211,3932,0.93,0.00,144.27,0.005,6,0.004,0.000,2611,1879,2837,1,0,0,0,0,0
$STATE,3932,end apogee,CONTROL_FINISHED_OK
$STATE,3933,begin climb
$GC,3935,0.99,146.0,508.7,0.0,213,4083,1.90,0.00,143.40,0.005,6,0.004,0.000,2964,1878,2242,1,0,0,0,0,0
$GC,4382,0.99,146.0,425.0,21.0,221,4388,0.32,2.92,0.00,0.000,4,0.003,0.004,2892,3627,2245,0,0,6,0,0,0
$GC,4415,0.99,146.0,419.6,14.6,221,4421,0.00,3.45,0.00,0.000,6,0.000,0.003,2892,1778,2243,0,0,9,0,0,0
$GC,4741,0.99,146.0,372.7,14.5,227,4746,0.00,3.35,0.00,0.000,4,0.000,0.004,2893,3485,2243,0,0,6,0,0,0
$GC,4784,0.99,146.0,366.3,14.6,227,4789,0.00,3.20,0.00,0.000,6,0.000,0.003,2893,1874,2243,0,0,8,0,0,0
$GC,5099,0.99,146.0,321.6,14.3,233,5104,0.00,3.15,0.00,0.000,4,0.000,0.004,2893,3544,2245,0,0,9,0,0,0
$GC,5119,0.99,146.0,318.4,14.3,233,5124,0.00,2.53,0.00,0.000,6,0.000,0.003,2893,1994,2242,0,0,5,0,0,0
$GC,5446,0.99,146.0,272.8,13.9,244,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1996,2242,0,0,0,0,0,0
$GC,5755,0.99,146.0,230.0,13.7,259,5759,0.00,2.50,0.00,0.000,4,0.000,0.004,2891,494,2243,0,0,4,0,0,0
$GC,5776,0.99,146.0,227.0,13.5,260,5780,0.00,2.42,0.00,0.000,6,0.000,0.003,2892,2036,2243,0,0,5,0,0,0
$GC,6103,0.99,146.0,183.1,13.2,276,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2038,2243,0,0,0,0,0,0
$GC,6413,0.99,146.0,142.6,12.8,293,6418,0.00,2.90,0.00,0.000,4,0.000,0.004,2891,505,2243,0,0,6,0,0,0
$GC,6440,0.99,146.0,139.2,12.4,295,6445,0.00,2.50,0.00,0.000,6,0.000,0.004,2893,2028,2244,0,0,5,0,0,0
$GC,6764,0.99,146.0,99.7,11.9,325,6765,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2028,2240,0,0,0,0,0,0
$GC,7090,0.99,146.0,64.4,9.9,368,7094,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2027,2245,0,0,0,0,0,0
$GC,7433,1.05,192.0,34.5,7.7,429,7479,0.00,3.12,39.55,0.005,4,0.000,0.004,2893,380,2053,0,0,7,0,0,0
$GC,7501,1.05,192.0,28.0,11.1,442,7506,0.00,2.95,0.00,0.000,6,0.000,0.004,2894,2062,2057,0,0,5,0,0,0
$STATE,7728,end climb,SURFACE_DEPTH_REACHED
$STATE,7729,begin surface coast
$FINISH,0.2,1.008360
$STATE,7747,end surface coast,CONTROL_FINISHED_OK
$STATE,7747,begin surface
$SM_CCo,7766,36.58,0.005,0,0,1817,250.45
$SM_GC,0.00,0.00,0.00,36.58,0.000,0.000,0.005,831,1856,1817,-8.46,-3.68,250.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,22.19
$INTERNAL_PRESSURE,11.9536
$TCM_TEMP,15.00
$24V_AH,24.0,15.193
$10V_AH,9.8,3.738
$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,21.450,84.450,327.225,36.575,0.000,0.000,0.000,86.447,0.000,0.000,18.112,846.147,5956.344,510.663,491.498,203.967,33.333,945.930,0.000,442.419,0.000,0.000,0.000
$DEVICE_MAMPS,3.835,3.835,4.602,4.602,0.000,103.000,0.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,26.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,empty,nil
$SENSOR_SECS,382.040,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324176
$DATA_FILE_SIZE,12751,486
$CAP_FILE_SIZE,75511,0
$CFSIZE,260165632,256196608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,182,0,0
$GPS,200110,210116,4803.594,-12548.484,29,1.1,29,18.0