version: 66.06
glider: 80
mission: 97
dive: 25
start: 1 20 110 16 26 3
data:
$ID,80
$MISSION,97
$DIVE,25
$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,-607104.31
$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
$GPS1,162145,4804.947,-12545.645,22,1.1,22,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,162512,4804.947,-12545.645,17,1.1,17,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.256,-0.055
$KALMAN_X,4476.1,-47.2,18.2,-11917.0,1060.4
$KALMAN_Y,-1886.4,-57.6,47.3,-5608.4,-556.6
$MHEAD_RNG_PITCHd_Wd,239.8,208004,-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,-44.58,0.000,2,0.000,0.000,806,2082,3165,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.7,-12.7,9,90,8.55,2.55,-9.18,0.000,4,0.004,0.004,2509,453,3446,0,0,7,0,0,0
$GC,157,-0.99,-146.0,22.3,-11.3,26,163,0.45,3.15,0.00,0.000,6,0.004,0.004,2416,2076,3446,0,0,8,0,0,0
$GC,503,-0.99,-146.0,88.6,-18.2,84,505,0.22,0.00,0.00,0.000,6,0.004,0.000,2491,2076,3447,0,0,0,0,0,0
$GC,824,-0.99,-146.0,124.5,-11.0,114,830,0.47,2.72,0.00,0.000,4,0.004,0.004,2419,420,3445,1,0,8,0,0,0
$GC,863,-0.99,-146.0,130.7,-16.1,117,869,0.45,3.05,0.00,0.000,6,0.003,0.004,2516,2206,3446,0,0,6,0,0,0
$GC,1184,-0.99,-146.0,159.5,-8.6,142,1191,0.47,3.40,0.00,0.000,4,0.004,0.004,2445,448,3448,1,0,7,0,0,0
$GC,1231,-0.99,-146.0,165.6,-13.2,144,1235,0.00,2.60,0.00,0.000,6,0.000,0.003,2444,1984,3446,0,0,6,0,0,0
$GC,1558,-0.99,-146.0,208.6,-13.1,160,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1985,3445,0,0,0,0,0,0
$GC,1867,-0.99,-146.0,248.4,-12.7,175,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1984,3447,0,0,0,0,0,0
$GC,2176,-0.99,-146.0,287.3,-12.6,190,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1982,3448,0,0,0,0,0,0
$GC,2522,-0.99,-146.0,330.2,-12.4,199,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1984,3446,0,0,0,0,0,0
$GC,2825,-0.99,-146.0,367.3,-12.2,204,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1983,3448,0,0,0,0,0,0
$GC,3128,-0.99,-146.0,403.9,-12.1,209,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1983,3447,0,0,0,0,0,0
$GC,3431,-0.99,-146.0,440.1,-11.9,214,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1981,3446,0,0,0,0,0,0
$GC,3734,-0.99,-146.0,475.9,-11.8,219,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1984,3448,0,0,0,0,0,0
$STATE,3975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3975,begin apogee
$GC,3980,-0.23,0.0,504.3,11.7,223,4130,0.70,0.00,146.98,0.005,6,0.003,0.000,2615,1982,2839,0,0,0,0,0,0
$STATE,4131,end apogee,CONTROL_FINISHED_OK
$STATE,4131,begin climb
$GC,4133,0.99,146.0,508.0,0.0,225,4281,1.38,0.00,143.73,0.005,6,0.004,0.000,2884,1985,2241,3,0,0,0,0,0
$GC,4580,0.99,146.0,452.0,14.0,233,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1983,2242,0,0,0,0,0,0
$GC,4883,0.99,146.0,409.9,13.9,238,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1984,2241,0,0,0,0,0,0
$GC,5186,0.99,146.0,368.2,13.8,243,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1985,2241,0,0,0,0,0,0
$GC,5489,0.99,146.0,326.9,13.6,248,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1984,2241,0,0,0,0,0,0
$GC,5794,0.99,146.0,286.0,13.3,255,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1984,2243,0,0,0,0,0,0
$GC,6103,0.99,146.0,245.0,13.2,270,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1985,2241,0,0,0,0,0,0
$GC,6412,0.99,146.0,204.8,13.0,285,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1986,2242,0,0,0,0,0,0
$GC,6722,0.99,146.0,165.6,12.6,300,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1983,2243,0,0,0,0,0,0
$GC,7036,0.99,146.0,127.3,11.8,323,7037,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1983,2243,0,0,0,0,0,0
$GC,7356,0.99,146.0,91.1,11.0,353,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1984,2242,0,0,0,0,0,0
$GC,7686,1.01,159.7,58.2,9.2,403,7701,0.00,0.00,12.95,0.005,6,0.000,0.000,2883,1986,2186,0,0,0,0,0,0
$GC,8038,1.04,185.9,27.0,8.6,466,8064,0.00,0.00,23.55,0.005,6,0.000,0.000,2884,1981,2079,0,0,0,0,0,0
$STATE,8281,end climb,SURFACE_DEPTH_REACHED
$STATE,8281,begin surface coast
$FINISH,0.3,1.008360
$STATE,8299,end surface coast,CONTROL_FINISHED_OK
$STATE,8299,begin surface
$SM_CCo,8317,40.20,0.005,0,0,1821,250.21
$SM_GC,0.00,0.00,0.00,40.20,0.000,0.000,0.005,846,1983,1821,-8.40,-0.11,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,33.02
$INTERNAL_PRESSURE,11.9829
$TCM_TEMP,15.00
$24V_AH,24.0,14.939
$10V_AH,9.8,3.713
$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,22.875,17.475,327.200,40.200,0.000,0.000,0.000,92.778,0.000,0.000,18.041,845.833,6616.908,456.356,452.546,203.982,33.329,848.382,0.000,405.596,0.000,0.000,0.000
$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,401.966,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324132
$DATA_FILE_SIZE,15863,513
$CAP_FILE_SIZE,64424,0
$CFSIZE,260165632,256237568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,42,0,0
$GPS,200110,184604,4804.342,-12547.206,7,1.1,7,18.0