version: 66.06
glider: 80
mission: 97
dive: 30
start: 1 21 110 4 24 42
data:
$ID,80
$MISSION,97
$DIVE,30
$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,-607219.25
$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
$GPS1,042021,4801.804,-12553.253,29,1.1,29,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,042351,4801.804,-12553.253,18,1.1,18,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.260,-0.031
$KALMAN_X,8430.0,-269.2,-28.9,-25002.0,1057.7
$KALMAN_Y,-5354.4,-113.1,-42.9,-7817.7,-842.9
$MHEAD_RNG_PITCHd_Wd,245.1,196799,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.99,-146.0,0.0,0.0,0,62,0.00,0.00,-44.97,0.000,2,0.000,0.000,860,2029,3186,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.8,-13.5,9,90,8.07,2.65,-8.25,0.000,4,0.004,0.004,2532,426,3437,0,0,7,0,0,0
$GC,118,-0.99,-146.0,16.7,-9.8,19,124,0.45,3.33,0.00,0.000,6,0.004,0.004,2438,2110,3436,0,0,6,0,0,0
$GC,460,-0.99,-146.0,75.5,-16.0,80,466,0.00,2.70,0.00,0.000,4,0.000,0.004,2438,520,3437,0,0,5,0,0,0
$GC,493,-0.99,-146.0,80.7,-15.8,86,498,0.00,2.60,0.00,0.000,6,0.000,0.004,2439,2013,3435,0,0,5,0,0,0
$GC,817,-0.99,-146.0,129.6,-14.6,116,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2015,3437,0,0,0,0,0,0
$GC,1131,-0.99,-146.0,173.8,-13.8,138,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2015,3435,0,0,0,0,0,0
$GC,1440,-0.99,-146.0,215.7,-13.3,153,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2012,3437,0,0,0,0,0,0
$GC,1749,-0.99,-146.0,256.6,-13.2,168,1754,0.00,2.90,0.00,0.000,4,0.000,0.004,2439,518,3436,0,0,7,0,0,0
$GC,1775,-0.99,-146.0,260.1,-13.4,169,1780,0.00,2.30,0.00,0.000,6,0.000,0.003,2438,1980,3438,0,0,6,0,0,0
$GC,2096,-0.99,-146.0,301.5,-13.0,185,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1981,3438,0,0,0,0,0,0
$GC,2399,-0.99,-146.0,340.2,-12.8,190,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1982,3435,0,0,0,0,0,0
$GC,2703,-0.99,-146.0,378.3,-12.5,195,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1982,3438,0,0,0,0,0,0
$GC,3005,-0.99,-146.0,415.9,-12.4,200,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1982,3437,0,0,0,0,0,0
$GC,3309,-0.99,-146.0,453.1,-12.2,205,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1982,3437,0,0,0,0,0,0
$GC,3612,-0.99,-146.0,489.9,-12.1,210,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1981,3439,0,0,0,0,0,0
$STATE,3731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3731,begin apogee
$GC,3736,-0.23,0.0,504.5,12.1,212,3885,1.33,0.00,144.30,0.005,6,0.004,0.000,2700,1983,2837,0,0,0,0,0,0
$STATE,3885,end apogee,CONTROL_FINISHED_OK
$STATE,3885,begin climb
$GC,3887,0.99,146.0,510.8,0.0,214,4034,0.77,0.00,142.80,0.005,6,0.004,0.000,2884,1981,2243,0,0,0,0,0,0
$GC,4336,0.99,146.0,454.9,14.0,222,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1981,2245,0,0,0,0,0,0
$GC,4639,0.99,146.0,412.8,13.9,227,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1980,2243,0,0,0,0,0,0
$GC,4943,0.99,146.0,371.2,13.7,232,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1983,2243,0,0,0,0,0,0
$GC,5246,0.99,146.0,329.9,13.6,237,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1980,2242,0,0,0,0,0,0
$GC,5550,0.99,146.0,289.0,13.4,244,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1982,2242,0,0,0,0,0,0
$GC,5859,0.99,146.0,248.0,13.3,259,5860,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1983,2244,0,0,0,0,0,0
$GC,6169,0.99,146.0,207.7,12.9,274,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1981,2243,0,0,0,0,0,0
$GC,6478,0.99,146.0,168.5,12.6,289,6479,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1981,2243,0,0,0,0,0,0
$GC,6792,0.99,146.0,130.2,11.8,311,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1982,2243,0,0,0,0,0,0
$GC,7113,0.99,146.0,93.7,10.9,341,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1981,2243,0,0,0,0,0,0
$GC,7440,1.01,160.8,60.5,9.1,388,7458,0.00,0.00,13.93,0.005,6,0.000,0.000,2883,1982,2181,0,0,0,0,0,0
$GC,7796,1.05,193.5,28.4,8.3,452,7826,0.00,0.00,28.33,0.005,6,0.000,0.000,2883,1980,2047,0,0,0,0,0,0
$STATE,8043,end climb,SURFACE_DEPTH_REACHED
$STATE,8043,begin surface coast
$FINISH,0.1,1.008360
$STATE,8061,end surface coast,CONTROL_FINISHED_OK
$STATE,8061,begin surface
$SM_CCo,8080,35.72,0.005,0,0,1819,250.45
$SM_GC,0.00,0.00,0.00,35.72,0.000,0.000,0.005,853,1981,1819,-8.35,-0.17,250.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,20.86
$INTERNAL_PRESSURE,11.9145
$TCM_TEMP,15.00
$24V_AH,24.0,16.204
$10V_AH,9.8,3.842
$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,21.150,16.475,329.350,35.725,0.000,0.000,0.000,91.771,0.000,0.000,19.179,820.883,6412.934,452.586,450.088,200.642,33.325,837.051,0.000,408.020,0.000,0.000,0.000
$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,403.551,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324124
$DATA_FILE_SIZE,12748,500
$CAP_FILE_SIZE,62239,0
$CFSIZE,260165632,256081920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,0,0
$GPS,210110,064040,4801.335,-12554.875,6,1.1,6,18.0