version: 66.06
glider: 80
mission: 97
dive: 41
start: 1 22 110 6 59 50
data:
$ID,80
$MISSION,97
$DIVE,41
$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,-607468.25
$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,1
$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
$GPS1,065526,4757.387,-12611.733,12,1.1,12,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,065900,4757.387,-12611.733,20,1.1,21,18.0
$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,13914.5,20.1,-70.6,-53567.9,1007.9
$KALMAN_Y,-13424.9,257.5,159.1,-8500.6,-989.4
$MHEAD_RNG_PITCHd_Wd,245.2,173192,-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,-45.30,0.000,2,0.000,0.000,815,1857,3189,0,0,0,0,0,0
$GC,65,-0.99,-146.0,4.0,-14.4,9,91,8.38,2.67,-8.20,0.000,4,0.004,0.004,2521,3500,3432,1,0,6,0,0,0
$GC,141,-0.99,-146.0,19.7,-10.1,23,147,0.45,2.78,0.00,0.000,6,0.004,0.004,2423,1921,3434,0,0,6,0,0,0
$GC,483,-0.99,-146.0,81.9,-17.0,83,485,0.43,0.00,0.00,0.000,6,0.004,0.000,2501,1920,3432,0,0,0,0,0,0
$GC,803,-0.99,-146.0,115.4,-10.2,113,809,0.20,3.00,0.00,0.000,4,0.004,0.004,2422,3434,3433,0,0,6,0,0,0
$GC,831,-0.99,-146.0,119.6,-15.8,115,836,0.45,2.65,0.00,0.000,6,0.003,0.004,2516,1861,3431,0,0,4,0,0,0
$GC,1155,-0.99,-146.0,148.4,-8.5,145,1164,0.22,3.60,0.00,0.000,4,0.004,0.004,2450,3483,3434,0,0,7,0,0,0
$GC,1179,-0.99,-146.0,151.6,-13.6,147,1184,0.00,2.42,0.00,0.000,6,0.000,0.003,2451,1988,3432,0,0,4,0,0,0
$GC,1506,-0.99,-146.0,193.4,-12.7,163,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1988,3431,0,0,0,0,0,0
$GC,1816,-0.99,-146.0,232.0,-12.3,178,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1987,3432,0,0,0,0,0,0
$GC,2125,-0.99,-146.0,269.8,-12.1,193,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1988,3434,0,0,0,0,0,0
$GC,2453,-0.99,-146.0,309.3,-12.0,207,2458,0.00,2.67,0.00,0.000,4,0.000,0.004,2450,396,3433,0,0,4,0,0,0
$GC,2474,-0.99,-146.0,311.8,-12.1,207,2479,0.00,3.08,0.00,0.000,6,0.000,0.003,2450,2194,3432,0,0,5,0,0,0
$GC,2811,-0.99,-146.0,351.7,-11.8,213,2816,0.00,3.35,0.00,0.000,4,0.000,0.004,2449,522,3432,0,0,6,0,0,0
$GC,2860,-0.99,-146.0,357.5,-11.8,213,2864,0.00,2.72,0.00,0.000,6,0.000,0.003,2450,2040,3433,0,0,6,0,0,0
$GC,3175,-0.99,-146.0,394.1,-11.7,219,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2038,3434,0,0,0,0,0,0
$GC,3478,-0.99,-146.0,429.0,-11.5,224,3482,0.00,2.47,0.00,0.000,4,0.000,0.004,2450,523,3433,0,0,4,0,0,0
$GC,3498,-0.99,-146.0,431.5,-11.4,224,3502,0.00,2.47,0.00,0.000,6,0.000,0.003,2449,2025,3432,0,0,5,0,0,0
$GC,3841,-0.99,-146.0,470.4,-11.4,230,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2026,3432,0,0,0,0,0,0
$STATE,4142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4142,begin apogee
$GC,4148,-0.23,0.0,504.6,11.3,235,4294,0.90,0.00,143.40,0.005,6,0.003,0.000,2622,1828,2838,0,0,0,0,0,0
$STATE,4295,end apogee,CONTROL_FINISHED_OK
$STATE,4295,begin climb
$GC,4297,0.99,146.0,508.2,0.0,237,4449,1.40,3.58,143.32,0.005,4,0.004,0.004,2875,3465,2243,2,0,7,0,0,0
$GC,4465,0.99,146.0,491.9,13.5,240,4470,0.00,3.03,0.00,0.000,6,0.000,0.004,2875,1981,2243,0,0,6,0,0,0
$GC,4802,0.99,146.0,447.0,13.4,246,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1979,2244,0,0,0,0,0,0
$GC,5105,0.99,146.0,406.9,13.2,251,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1980,2243,0,0,0,0,0,0
$GC,5408,0.99,146.0,367.1,13.1,256,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1980,2244,0,0,0,0,0,0
$GC,5711,0.99,146.0,327.8,13.0,261,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1980,2243,0,0,0,0,0,0
$GC,6016,0.99,146.0,288.7,12.8,268,6017,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1980,2244,0,0,0,0,0,0
$GC,6325,0.99,146.0,249.5,12.7,283,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1980,2243,0,0,0,0,0,0
$GC,6634,0.99,146.0,210.9,12.4,298,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1980,2244,0,0,0,0,0,0
$GC,6944,0.99,146.0,173.2,12.1,313,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1979,2241,0,0,0,0,0,0
$GC,7256,0.99,146.0,136.3,11.5,333,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1980,2243,0,0,0,0,0,0
$GC,7577,0.99,146.0,100.9,10.8,363,7578,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1978,2243,0,0,0,0,0,0
$GC,7900,1.00,153.4,68.2,9.5,403,7910,0.00,0.00,8.48,0.005,6,0.000,0.000,2875,1980,2212,0,0,0,0,0,0
$GC,8247,1.05,192.1,37.6,8.1,465,8283,0.00,0.00,33.65,0.005,6,0.000,0.000,2876,1981,2053,0,0,0,0,0,0
$STATE,8602,end climb,SURFACE_DEPTH_REACHED
$STATE,8602,begin surface coast
$FINISH,0.1,1.008360
$STATE,8619,end surface coast,CONTROL_FINISHED_OK
$STATE,8619,begin surface
$SM_CCo,8637,36.92,0.005,0,0,1815,250.45
$SM_GC,0.00,0.00,0.00,36.92,0.000,0.000,0.005,810,1978,1815,-8.56,-0.17,250.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,20.07
$INTERNAL_PRESSURE,11.9438
$TCM_TEMP,15.00
$24V_AH,24.0,19.011
$10V_AH,9.8,4.126
$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,22.625,40.975,328.850,36.925,0.000,0.000,0.000,93.817,0.000,0.000,21.269,888.510,6798.899,473.610,517.021,212.159,33.351,908.668,0.000,466.104,0.000,0.000,0.000
$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,433.059,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324080
$DATA_FILE_SIZE,15858,532
$CAP_FILE_SIZE,71403,0
$CFSIZE,260165632,255737856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,78,0,0
$GPS,220110,092507,4756.838,-12613.392,15,1.1,15,18.0