version: 66.06
glider: 99
mission: 63
dive: 35
start: 10 28 109 23 54 15
data:
$ID,99
$MISSION,63
$DIVE,35
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,40
$T_MISSION,60
$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,100
$T_WATCHDOG,10
$RELAUNCH,5
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.02764
$MASS,51779
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,350
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-832123.5
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,2657
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.9
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,10
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,1946
$C_ROLL_CLIMB,1946
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,4
$R_STBD_OVSHOOT,5
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,2745
$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,-0.22403635
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$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,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,234924,4807.075,-12223.029,34,1.1,34,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-1.6
$GPS2,235313,4807.072,-12223.029,25,1.1,25,18.0
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.090,-0.218
$KALMAN_X,8114.9,-124.1,28.6,-7004.7,139.7
$KALMAN_Y,-9496.6,289.4,69.1,7761.0,-34.0
$MHEAD_RNG_PITCHd_Wd,139.4,2358,-14.1,-7.500
$D_GRID,100
$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,16,-1.06,-146.0,0.0,0.0,0,109,0.00,0.00,-90.10,0.000,2,0.000,0.000,191,1886,3307,0,0,0,0,0,0
$GC,112,-1.06,-146.0,3.8,-6.1,14,127,11.27,0.00,-1.12,0.000,6,0.000,0.000,2498,1885,3336,1,0,0,0,0,0
$GC,199,-1.06,-146.0,13.6,-8.5,28,206,0.38,0.00,0.00,0.000,6,0.000,0.000,2413,1884,3342,0,0,0,0,0,0
$GC,277,-1.06,-146.0,19.5,-7.6,41,283,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1883,3340,0,0,0,0,0,0
$GC,354,-1.06,-146.0,25.4,-7.9,49,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1891,3342,0,0,0,0,0,0
$GC,547,-1.06,-146.0,39.9,-7.3,67,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1883,3341,0,0,0,0,0,0
$GC,748,-1.06,-146.0,54.9,-7.3,86,755,0.17,0.00,0.00,0.000,6,0.000,0.000,2474,1893,3343,0,0,0,0,0,0
$GC,1075,-1.06,-146.0,79.8,-6.9,117,1077,0.60,0.00,0.00,0.000,6,0.000,0.000,2417,1890,3342,1,0,0,0,0,0
$STATE,1226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1226,begin apogee
$GC,1233,-0.31,0.0,90.3,7.1,131,1360,0.95,0.00,118.88,0.001,6,0.000,0.000,2594,2212,2751,0,0,0,0,0,0
$STATE,1361,end apogee,CONTROL_FINISHED_OK
$STATE,1361,begin climb
$GC,1364,1.06,146.0,84.9,0.0,144,1492,1.50,0.00,119.43,0.001,6,0.000,0.000,2912,2210,2148,0,0,0,0,0,0
$GC,1811,1.06,146.0,41.7,8.0,187,1813,0.40,0.00,0.00,0.000,6,0.000,0.000,2798,2218,2153,0,0,0,0,0,0
$GC,2004,1.07,148.0,27.1,7.4,205,2012,0.62,0.00,3.67,0.000,6,0.000,0.000,2919,2225,2145,1,0,0,0,0,0
$GC,2211,1.10,179.4,12.8,6.4,233,2245,0.20,0.00,27.48,0.000,6,0.000,0.000,2874,2220,2015,0,0,0,0,0,0
$GC,2320,1.12,194.1,6.1,7.0,250,2334,0.25,0.00,10.90,0.000,6,0.000,0.000,2933,2224,1954,0,0,0,0,0,0
$GC,2409,1.40,423.0,4.0,-0.4,264,2514,0.25,0.00,100.80,0.001,2,0.000,0.000,3006,2224,1303,0,0,0,0,0,0
$FREEZE,4.10,21.518,-0.664,0,1,0
$STATE,2515,end climb,NO_VERTICAL_VELOCITY
$STATE,2516,begin surface
$SM_CCo,2600,0.00,0.000,0,0,1307,355.68
$SM_GC,-0.00,13.45,0.00,0.00,0.000,0.000,0.000,323,1845,1307,-10.71,-2.94,355.68
$RAFOS_CLK,86
$RAFOS,2,1256775842,0.416667,0.400556,46,43,43,0,0,0,44,1192,1296,0,0,0
$RAFOS,1,1256775245,0.250000,0.234722,43,42,38,0,0,0,26,903,1824,0,0,0
$RAFOS,0,1256774649,0.083333,0.069167,40,39,38,0,0,0,1408,592,26,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.026078
$HUMID,63.15
$INTERNAL_PRESSURE,16.0455
$TCM_TEMP,23.50
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.7,0.0
$24V_AH,24.1,3.698
$10V_AH,10.7,1.035
$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,30.050,1.200,381.150,0.000,0.000,0.000,0.000,100.811,0.000,0.000,26.259,651.833,936.149,408.673,455.834,372.549,33.348,718.989,0.000,460.377,1440.000,21.102,0.000
$DEVICE_MAMPS,119.000,60.000,0.767,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,267.481,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,278500
$DATA_FILE_SIZE,6450,279
$CAP_FILE_SIZE,213896,0
$CFSIZE,260165632,248487936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,2,0,0
$SOUNDSPEED,1501.1
$GPS,291009,003830,4807.032,-12223.165,18,1.1,18,18.0