version: 66.06
glider: 80
mission: 97
dive: 27
start: 1 20 110 21 5 58
data:
$ID,80
$MISSION,97
$DIVE,27
$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,-607156.38
$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
$GPS1,210116,4803.594,-12548.484,29,1.1,29,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,210507,4803.594,-12548.484,32,1.1,32,18.0
$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,-0.030
$KALMAN_X,6436.4,-225.9,-103.0,-17086.4,1435.8
$KALMAN_Y,-2868.7,-84.9,-64.0,-6995.2,-573.4
$MHEAD_RNG_PITCHd_Wd,245.4,203628,-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,-44.65,0.000,2,0.000,0.000,829,1855,3173,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.7,-13.1,9,90,8.57,2.72,-8.93,0.000,4,0.004,0.004,2461,3526,3444,6,0,7,0,0,0
$GC,123,-0.99,-146.0,19.7,-15.8,20,129,0.00,2.78,0.00,0.000,6,0.000,0.004,2461,1953,3445,0,0,7,0,0,0
$GC,465,-0.99,-146.0,72.3,-14.5,81,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1952,3444,0,0,0,0,0,0
$GC,798,-0.99,-146.0,117.3,-13.2,117,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1953,3445,0,0,0,0,0,0
$GC,1124,-0.99,-146.0,158.7,-12.4,145,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1955,3445,0,0,0,0,0,0
$GC,1434,-0.99,-146.0,196.3,-12.0,160,1439,0.00,2.88,0.00,0.000,4,0.000,0.004,2461,3621,3445,0,0,5,0,0,0
$GC,1455,-0.99,-146.0,198.9,-12.1,161,1460,0.00,3.33,0.00,0.000,6,0.000,0.003,2460,1771,3444,0,0,6,0,0,0
$GC,1776,-0.99,-146.0,236.5,-11.7,177,1781,0.00,3.10,0.00,0.000,4,0.000,0.004,2460,3631,3444,0,0,5,0,0,0
$GC,1815,-0.99,-146.0,241.2,-11.5,179,1820,0.00,3.15,0.00,0.000,6,0.000,0.004,2462,1864,3444,0,0,8,0,0,0
$GC,2140,-0.99,-146.0,278.7,-11.4,195,2144,0.00,2.50,0.00,0.000,4,0.000,0.004,2462,3392,3445,0,0,6,0,0,0
$GC,2166,-0.99,-146.0,281.9,-11.6,196,2171,0.00,2.25,0.00,0.000,6,0.000,0.004,2461,1984,3445,0,0,5,0,0,0
$GC,2525,-0.99,-146.0,322.5,-11.3,208,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1984,3444,0,0,0,0,0,0
$GC,2828,-0.99,-146.0,356.5,-11.2,213,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1987,3446,0,0,0,0,0,0
$GC,3131,-0.99,-146.0,390.1,-11.1,218,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1985,3447,0,0,0,0,0,0
$GC,3434,-0.99,-146.0,423.3,-11.0,223,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1984,3445,0,0,0,0,0,0
$GC,3737,-0.99,-146.0,456.2,-10.8,228,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1983,3445,0,0,0,0,0,0
$GC,4040,-0.99,-146.0,488.8,-10.8,233,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1986,3445,0,0,0,0,0,0
$STATE,4160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4160,begin apogee
$GC,4165,-0.23,0.0,501.7,10.7,235,4315,0.93,0.00,146.52,0.005,6,0.003,0.000,2634,1986,2837,2,0,0,0,0,0
$STATE,4316,end apogee,CONTROL_FINISHED_OK
$STATE,4316,begin climb
$GC,4318,0.99,146.0,505.1,0.0,237,4467,1.38,0.00,142.40,0.005,6,0.004,0.000,2885,1986,2242,3,0,0,0,0,0
$GC,4766,0.99,146.0,449.0,14.1,245,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1984,2242,0,0,0,0,0,0
$GC,5068,0.99,146.0,406.7,13.9,250,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1984,2241,0,0,0,0,0,0
$GC,5372,0.99,146.0,365.0,13.8,255,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1982,2241,0,0,0,0,0,0
$GC,5675,0.99,146.0,323.6,13.6,260,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1985,2242,0,0,0,0,0,0
$GC,5980,0.99,146.0,282.4,13.5,269,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1984,2243,0,0,0,0,0,0
$GC,6290,0.99,146.0,241.4,13.1,284,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1985,2240,0,0,0,0,0,0
$GC,6601,0.99,146.0,201.1,13.0,299,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1987,2241,0,0,0,0,0,0
$GC,6908,0.99,146.0,161.8,12.6,314,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1984,2241,0,0,0,0,0,0
$GC,7224,0.99,146.0,123.5,11.8,339,7225,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1985,2242,0,0,0,0,0,0
$GC,7544,0.99,146.0,87.5,10.6,369,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1983,2242,0,0,0,0,0,0
$GC,7876,1.01,162.5,55.0,9.1,422,7895,0.00,0.00,15.18,0.005,6,0.000,0.000,2885,1987,2173,0,0,0,0,0,0
$GC,8233,1.04,182.9,23.0,8.9,486,8253,0.00,0.00,18.30,0.005,6,0.000,0.000,2884,1984,2093,0,0,0,0,0,0
$STATE,8442,end climb,SURFACE_DEPTH_REACHED
$STATE,8442,begin surface coast
$FINISH,0.0,1.008360
$STATE,8460,end surface coast,CONTROL_FINISHED_OK
$STATE,8460,begin surface
$SM_CCo,8479,42.58,0.005,0,0,1815,250.21
$SM_GC,-0.00,0.00,0.00,42.58,0.000,0.000,0.005,821,1986,1815,-8.52,-0.06,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,20.03
$INTERNAL_PRESSURE,11.9243
$TCM_TEMP,15.00
$24V_AH,24.0,15.432
$10V_AH,9.8,3.765
$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,21.200,22.700,322.400,42.575,0.000,0.000,0.000,97.772,0.000,0.000,32.710,873.342,6719.021,442.198,514.266,214.729,33.318,874.067,0.000,454.493,0.000,0.000,0.000
$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,427.551,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324088
$DATA_FILE_SIZE,15834,527
$CAP_FILE_SIZE,67743,0
$CFSIZE,260165632,256172032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,11,49,0,0
$GPS,200110,232854,4802.971,-12550.065,18,1.1,18,18.0