version: 66.06
glider: 80
mission: 97
dive: 24
start: 1 20 110 14 0 12
data:
$ID,80
$MISSION,97
$DIVE,24
$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,-607085.62
$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,2
$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
$GPS1,135623,4805.896,-12544.521,33,1.1,33,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,135922,4805.896,-12544.521,18,1.1,18,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.230,-0.125
$KALMAN_X,3247.9,160.6,58.6,-9549.4,450.2
$KALMAN_Y,-1227.8,-121.5,-50.4,-4349.9,-101.1
$MHEAD_RNG_PITCHd_Wd,223.4,210178,-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,14,begin dive
$GC,16,-0.99,-146.0,0.0,0.0,0,62,0.00,0.00,-43.40,0.000,2,0.000,0.000,835,1977,3119,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.0,-10.2,9,90,8.12,2.28,-10.55,0.000,4,0.004,0.004,2526,3394,3435,6,0,5,0,0,0
$GC,140,-0.99,-146.0,17.5,-10.0,23,146,0.45,2.70,0.00,0.000,6,0.004,0.004,2433,1868,3436,0,0,5,0,0,0
$GC,483,-0.99,-146.0,78.3,-16.6,84,488,0.00,3.38,0.00,0.000,4,0.000,0.004,2432,3562,3435,0,0,6,0,0,0
$GC,509,-0.99,-146.0,82.7,-16.3,88,515,0.00,3.38,0.00,0.000,6,0.000,0.004,2434,1794,3436,0,0,7,0,0,0
$GC,835,-0.99,-146.0,133.0,-14.8,119,841,0.47,2.75,0.00,0.000,4,0.004,0.004,2504,3416,3435,1,0,6,0,0,0
$GC,879,-0.99,-146.0,137.9,-9.8,122,886,0.45,3.10,0.00,0.000,6,0.003,0.003,2402,1777,3436,0,0,8,0,0,0
$GC,1207,-0.99,-146.0,192.3,-16.6,142,1213,0.25,3.25,0.00,0.000,4,0.004,0.004,2475,3500,3437,0,0,7,0,0,0
$GC,1251,-0.99,-146.0,197.7,-11.3,144,1255,0.00,2.45,0.00,0.000,6,0.000,0.004,2475,1985,3436,0,0,5,0,0,0
$GC,1577,-0.99,-146.0,233.0,-10.8,160,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1983,3435,0,0,0,0,0,0
$GC,1887,-0.99,-146.0,265.9,-10.6,175,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1981,3436,0,0,0,0,0,0
$GC,2196,-0.99,-146.0,298.4,-10.5,190,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1981,3435,0,0,0,0,0,0
$GC,2520,-0.99,-146.0,332.0,-10.4,196,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1984,3436,0,0,0,0,0,0
$GC,2823,-0.99,-146.0,363.0,-10.3,201,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1982,3434,0,0,0,0,0,0
$GC,3126,-0.99,-146.0,393.8,-10.1,206,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1983,3437,0,0,0,0,0,0
$GC,3429,-0.99,-146.0,424.2,-10.0,211,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1983,3436,0,0,0,0,0,0
$GC,3732,-0.99,-146.0,454.4,-9.9,216,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1982,3435,0,0,0,0,0,0
$GC,4035,-0.99,-146.0,484.3,-9.8,221,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1984,3435,0,0,0,0,0,0
$STATE,4215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4215,begin apogee
$GC,4220,-0.23,0.0,502.1,9.8,224,4369,0.80,0.00,145.15,0.005,6,0.004,0.000,2623,1981,2838,0,0,0,0,0,0
$STATE,4369,end apogee,CONTROL_FINISHED_OK
$STATE,4370,begin climb
$GC,4372,0.99,146.0,505.4,0.0,226,4523,1.77,2.10,143.50,0.005,4,0.004,0.004,2954,3455,2241,0,0,5,0,0,0
$GC,4534,0.99,146.0,482.7,17.8,229,4541,0.73,2.55,0.00,0.000,6,0.003,0.003,2823,1955,2245,1,0,5,0,0,0
$GC,4877,1.00,152.9,449.3,9.5,235,4889,0.32,0.00,9.00,0.005,6,0.004,0.000,2893,1954,2214,0,0,0,0,0,0
$GC,5180,1.00,152.9,404.9,14.8,240,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1955,2215,0,0,0,0,0,0
$GC,5483,1.00,152.9,360.6,14.6,245,5488,0.00,3.38,0.00,0.000,4,0.000,0.004,2891,3645,2216,0,0,6,0,0,0
$GC,5504,1.00,152.9,357.4,14.8,245,5509,0.00,3.12,0.00,0.000,6,0.000,0.003,2890,1836,2215,0,0,7,0,0,0
$GC,5841,1.00,152.9,308.9,14.4,251,5845,0.00,2.67,0.00,0.000,4,0.000,0.004,2891,3458,2216,0,0,4,0,0,0
$GC,5873,1.00,152.9,304.1,14.2,251,5878,0.00,3.15,0.00,0.000,6,0.000,0.003,2891,1842,2216,0,0,6,0,0,0
$GC,6204,1.00,152.9,257.2,14.1,265,6209,0.00,2.92,0.00,0.000,4,0.000,0.004,2891,3510,2215,0,0,7,0,0,0
$GC,6230,1.00,152.9,253.4,14.1,266,6235,0.00,2.58,0.00,0.000,6,0.000,0.004,2891,1928,2215,0,0,5,0,0,0
$GC,6551,1.00,152.9,208.9,13.8,282,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1925,2217,0,0,0,0,0,0
$GC,6861,1.00,152.9,167.0,13.4,297,6865,0.00,2.47,0.00,0.000,4,0.000,0.004,2891,3473,2215,0,0,4,0,0,0
$GC,6886,1.00,152.9,163.3,13.8,298,6891,0.00,2.97,0.00,0.000,6,0.000,0.004,2891,1834,2218,0,0,6,0,0,0
$GC,7210,1.00,152.9,121.8,12.8,323,7215,0.00,2.75,0.00,0.000,4,0.000,0.004,2890,3525,2216,0,0,5,0,0,0
$GC,7242,1.00,152.9,117.5,12.4,325,7248,0.00,2.72,0.00,0.000,6,0.000,0.003,2891,1931,2217,0,0,6,0,0,0
$GC,7568,1.00,152.9,79.1,11.4,356,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1932,2214,0,0,0,0,0,0
$GC,7910,1.02,169.5,44.9,9.1,417,7931,0.00,2.75,15.77,0.005,4,0.000,0.004,2890,3521,2148,0,0,6,0,0,0
$GC,7948,1.02,173.1,41.4,9.6,424,7959,0.00,2.70,4.70,0.005,6,0.000,0.004,2891,1894,2131,0,0,6,0,0,0
$GC,8296,1.02,173.1,7.5,9.8,486,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1893,2130,0,0,0,0,0,0
$STATE,8349,end climb,SURFACE_DEPTH_REACHED
$STATE,8349,begin surface coast
$FINISH,0.2,1.008360
$STATE,8367,end surface coast,CONTROL_FINISHED_OK
$STATE,8367,begin surface
$SM_CCo,8386,48.50,0.005,0,0,1816,250.21
$SM_GC,-0.00,0.00,0.00,48.50,0.000,0.000,0.005,809,2083,1816,-8.56,2.80,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,30.78
$INTERNAL_PRESSURE,12.0024
$TCM_TEMP,15.00
$24V_AH,24.0,14.684
$10V_AH,9.8,3.688
$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,23.575,62.475,318.125,48.500,0.000,0.000,0.000,79.463,0.000,0.000,19.225,863.111,6586.059,494.901,492.293,193.008,33.341,927.783,0.000,443.209,0.000,0.000,0.000
$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,398.437,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324152
$DATA_FILE_SIZE,15861,499
$CAP_FILE_SIZE,74200,0
$CFSIZE,260165632,256258048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,8,128,0,0
$GPS,200110,162145,4804.947,-12545.645,22,1.1,22,18.0