version: 66.06
glider: 80
mission: 97
dive: 63
start: 1 24 110 11 48 56
data:
$ID,80
$MISSION,97
$DIVE,63
$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,-607989.88
$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,1
$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
$GPS1,114429,4746.659,-12647.554,20,1.1,21,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,114806,4746.659,-12647.554,22,1.1,22,18.0
$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,27634.2,-42.6,-46.8,-111510.3,1043.1
$KALMAN_Y,-29235.8,138.0,174.3,-12459.4,-1238.9
$MHEAD_RNG_PITCHd_Wd,245.3,125857,-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,15,-0.99,-146.0,0.0,0.0,0,62,0.00,0.00,-45.10,0.000,2,0.000,0.000,858,1916,3181,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.5,-12.0,9,90,8.07,2.70,-8.30,0.000,4,0.004,0.004,2501,3568,3431,2,0,6,0,0,0
$GC,123,-0.99,-146.0,17.8,-11.9,20,129,0.43,2.97,0.00,0.000,6,0.004,0.004,2410,1944,3430,0,0,5,0,0,0
$GC,465,-0.99,-146.0,84.1,-17.8,79,467,0.43,0.00,0.00,0.000,6,0.004,0.000,2476,1943,3433,0,0,0,0,0,0
$GC,784,-0.99,-146.0,122.3,-11.7,109,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1942,3432,0,0,0,0,0,0
$GC,1110,-0.99,-146.0,159.1,-11.0,136,1115,0.00,2.53,0.00,0.000,4,0.000,0.004,2476,3527,3433,0,0,5,0,0,0
$GC,1137,-0.99,-146.0,162.1,-11.2,137,1142,0.35,2.40,0.00,0.000,6,0.004,0.004,2436,1945,3433,0,0,4,0,0,0
$GC,1452,-0.99,-146.0,205.0,-13.7,152,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1949,3433,0,0,0,0,0,0
$GC,1761,-0.99,-146.0,246.4,-13.3,167,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1948,3432,0,0,0,0,0,0
$GC,2071,-0.99,-146.0,286.9,-13.0,182,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,1948,3432,0,0,0,0,0,0
$GC,2416,-0.99,-146.0,331.6,-12.9,191,2421,0.00,2.53,0.00,0.000,4,0.000,0.004,2436,3516,3434,0,0,5,0,0,0
$GC,2443,-0.99,-146.0,335.1,-13.0,191,2448,0.00,2.80,0.00,0.000,6,0.000,0.003,2436,1956,3433,0,0,5,0,0,0
$GC,2780,-0.99,-146.0,377.8,-12.7,197,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1957,3431,0,0,0,0,0,0
$GC,3083,-0.99,-146.0,415.8,-12.5,202,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1956,3432,0,0,0,0,0,0
$GC,3386,-0.99,-146.0,453.4,-12.4,207,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1958,3432,0,0,0,0,0,0
$GC,3689,-0.99,-146.0,490.6,-12.3,212,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1957,3431,0,0,0,0,0,0
$STATE,3809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3809,begin apogee
$GC,3814,-0.23,0.0,505.4,12.2,214,3962,1.20,0.00,144.02,0.005,6,0.004,0.000,2686,2142,2837,0,0,0,0,0,0
$STATE,3963,end apogee,CONTROL_FINISHED_OK
$STATE,3963,begin climb
$GC,3965,0.99,146.0,511.6,0.0,216,4117,0.93,2.75,142.50,0.005,4,0.004,0.004,2892,360,2241,0,0,6,0,0,0
$GC,4160,0.99,146.0,489.5,15.2,219,4165,0.00,2.72,0.00,0.000,6,0.000,0.003,2890,1994,2241,0,0,5,0,0,0
$GC,4509,0.99,146.0,438.1,14.8,225,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1994,2241,0,0,0,0,0,0
$GC,4812,0.99,146.0,393.6,14.6,230,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1995,2241,0,0,0,0,0,0
$GC,5115,0.99,146.0,349.6,14.5,235,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1993,2241,0,0,0,0,0,0
$GC,5418,0.99,146.0,306.1,14.4,240,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1992,2240,0,0,0,0,0,0
$GC,5726,0.99,146.0,262.4,14.1,253,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1992,2241,0,0,0,0,0,0
$GC,6036,0.99,146.0,219.3,13.8,268,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1994,2241,0,0,0,0,0,0
$GC,6345,0.99,146.0,177.1,13.4,283,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1993,2243,0,0,0,0,0,0
$GC,6658,0.99,146.0,136.0,12.9,303,6659,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1995,2242,0,0,0,0,0,0
$GC,6977,0.99,146.0,96.6,11.9,333,6982,0.00,2.47,0.00,0.000,4,0.000,0.004,2892,563,2243,0,0,5,0,0,0
$GC,6998,0.99,146.0,93.9,11.8,334,7004,0.00,2.28,0.00,0.000,6,0.000,0.003,2892,1983,2241,0,0,4,0,0,0
$GC,7335,0.99,146.0,57.5,10.0,384,7339,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1984,2243,0,0,0,0,0,0
$GC,7678,1.04,183.2,27.8,8.1,445,7713,0.00,0.00,32.08,0.005,6,0.000,0.000,2891,1984,2091,0,0,0,0,0,0
$STATE,7919,end climb,SURFACE_DEPTH_REACHED
$STATE,7919,begin surface coast
$FINISH,0.2,1.008360
$STATE,7937,end surface coast,CONTROL_FINISHED_OK
$STATE,7937,begin surface
$SM_CCo,7956,41.83,0.005,0,0,1818,250.45
$SM_GC,-0.00,0.00,0.00,41.83,0.000,0.000,0.005,846,1986,1818,-8.38,0.00,250.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,24.08
$INTERNAL_PRESSURE,12.3638
$TCM_TEMP,15.00
$24V_AH,24.0,24.586
$10V_AH,9.8,4.684
$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,21.700,26.400,318.600,41.825,0.000,0.000,0.000,94.242,0.000,0.000,22.439,827.888,6262.992,435.952,489.179,209.246,33.359,859.178,0.000,440.084,0.000,0.000,0.000
$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,394.795,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324092
$DATA_FILE_SIZE,12730,492
$CAP_FILE_SIZE,67383,0
$CFSIZE,260165632,255082496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,51,0,0
$GPS,240110,140320,4746.165,-12649.110,30,1.1,31,18.0