version: 66.06
glider: 80
mission: 97
dive: 28
start: 1 20 110 23 33 6
data:
$ID,80
$MISSION,97
$DIVE,28
$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,-607174
$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,2
$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
$GPS1,232854,4802.971,-12550.065,18,1.1,18,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,233215,4802.971,-12550.065,16,1.1,16,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.261,-0.020
$KALMAN_X,6647.9,169.8,-50.1,-19697.4,967.4
$KALMAN_Y,-3999.7,90.7,31.5,-7287.4,-1024.4
$MHEAD_RNG_PITCHd_Wd,247.6,201332,-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,13,begin dive
$GC,15,-0.99,-146.0,0.0,0.0,0,62,0.00,0.00,-44.70,0.000,2,0.000,0.000,820,1984,3163,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.5,-11.9,9,85,8.07,0.00,-9.15,0.000,6,0.004,0.000,2461,1985,3444,0,0,0,0,0,0
$GC,421,-0.99,-146.0,66.0,-14.7,73,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1984,3443,0,0,0,0,0,0
$GC,755,-0.99,-146.0,112.1,-13.2,113,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1985,3444,0,0,0,0,0,0
$GC,1074,-0.99,-146.0,152.8,-12.5,142,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1986,3441,0,0,0,0,0,0
$GC,1383,-0.99,-146.0,190.6,-12.1,157,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1986,3443,0,0,0,0,0,0
$GC,1692,-0.99,-146.0,227.4,-11.7,172,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1985,3443,0,0,0,0,0,0
$GC,2001,-0.99,-146.0,263.5,-11.6,187,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1984,3442,0,0,0,0,0,0
$GC,2311,-0.99,-146.0,299.0,-11.5,202,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1986,3443,0,0,0,0,0,0
$GC,2634,-0.99,-146.0,335.7,-11.3,208,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1984,3443,0,0,0,0,0,0
$GC,2938,-0.99,-146.0,369.6,-11.2,213,2943,0.00,3.15,0.00,0.000,4,0.000,0.004,2460,365,3443,0,0,8,0,0,0
$GC,2958,-0.99,-146.0,372.1,-11.0,213,2963,0.00,3.10,0.00,0.000,6,0.000,0.004,2461,2182,3442,0,0,6,0,0,0
$GC,3296,-0.99,-146.0,409.2,-11.1,219,3301,0.00,3.38,0.00,0.000,4,0.000,0.004,2460,443,3443,0,0,7,0,0,0
$GC,3339,-0.99,-146.0,414.0,-10.7,219,3343,0.00,2.38,0.00,0.000,6,0.000,0.004,2460,2009,3443,0,0,6,0,0,0
$GC,3659,-0.99,-146.0,448.9,-10.9,225,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2007,3442,0,0,0,0,0,0
$GC,3962,-0.99,-146.0,481.6,-10.8,230,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2010,3444,0,0,0,0,0,0
$STATE,4142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4142,begin apogee
$GC,4147,-0.23,0.0,501.1,10.7,233,4297,0.88,0.00,145.55,0.005,6,0.003,0.000,2626,1805,2837,0,0,0,0,0,0
$STATE,4298,end apogee,CONTROL_FINISHED_OK
$STATE,4298,begin climb
$GC,4300,0.99,146.0,504.8,0.0,235,4447,1.35,0.00,143.02,0.005,6,0.004,0.000,2885,1803,2239,2,0,0,0,0,0
$GC,4747,0.99,146.0,448.5,14.1,243,4752,0.00,2.65,0.00,0.000,4,0.000,0.004,2883,3405,2241,0,0,4,0,0,0
$GC,4801,0.99,146.0,440.8,14.0,243,4808,0.00,3.22,0.00,0.000,6,0.000,0.003,2883,1872,2242,0,0,7,0,0,0
$GC,5111,0.99,146.0,397.9,13.9,249,5115,0.00,2.47,0.00,0.000,4,0.000,0.004,2887,3408,2243,0,0,4,0,0,0
$GC,5131,0.99,146.0,394.9,13.7,249,5135,0.00,2.45,0.00,0.000,6,0.000,0.004,2884,1930,2239,0,0,6,0,0,0
$GC,5474,0.99,146.0,347.9,13.8,255,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1929,2241,0,0,0,0,0,0
$GC,5777,0.99,146.0,306.7,13.6,260,5781,0.00,2.55,0.00,0.000,4,0.000,0.004,2885,3475,2242,0,0,5,0,0,0
$GC,5803,0.99,146.0,303.1,13.4,260,5808,0.00,3.00,0.00,0.000,6,0.000,0.003,2886,1994,2241,0,0,8,0,0,0
$GC,6119,0.99,146.0,260.8,13.4,275,6124,0.00,2.47,0.00,0.000,4,0.000,0.004,2884,476,2241,0,0,5,0,0,0
$GC,6139,0.99,146.0,258.0,13.7,276,6144,0.00,2.50,0.00,0.000,6,0.000,0.004,2884,2026,2241,0,0,5,0,0,0
$GC,6466,0.99,146.0,215.2,13.1,292,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2026,2241,0,0,0,0,0,0
$GC,6776,0.99,146.0,175.5,12.8,307,6780,0.00,2.58,0.00,0.000,4,0.000,0.004,2885,512,2242,0,0,4,0,0,0
$GC,6796,0.99,146.0,172.8,12.5,308,6800,0.00,2.45,0.00,0.000,6,0.000,0.004,2885,2005,2241,0,0,5,0,0,0
$GC,7116,0.99,146.0,133.5,12.2,329,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2008,2241,0,0,0,0,0,0
$GC,7436,0.99,146.0,96.6,11.3,359,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2006,2241,0,0,0,0,0,0
$GC,7763,1.00,151.4,62.9,9.6,404,7772,0.00,0.00,6.12,0.005,6,0.000,0.000,2882,2006,2217,0,0,0,0,0,0
$GC,8109,1.05,197.4,32.9,7.7,466,8155,0.00,3.08,38.90,0.005,4,0.000,0.004,2884,407,2031,0,0,6,0,0,0
$GC,8172,1.05,197.4,27.0,11.0,478,8177,0.00,2.97,0.00,0.000,6,0.000,0.004,2885,2169,2030,0,0,5,0,0,0
$STATE,8394,end climb,SURFACE_DEPTH_REACHED
$STATE,8394,begin surface coast
$FINISH,0.2,1.008360
$STATE,8412,end surface coast,CONTROL_FINISHED_OK
$STATE,8412,begin surface
$SM_CCo,8431,33.22,0.005,0,0,1815,250.70
$SM_GC,-0.00,0.00,0.00,33.22,0.000,0.000,0.005,817,1974,1815,-8.53,-0.34,250.70
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,19.12
$INTERNAL_PRESSURE,11.9145
$TCM_TEMP,15.00
$24V_AH,24.0,15.691
$10V_AH,9.8,3.791
$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,20.625,45.200,333.600,33.225,0.000,0.000,0.000,87.211,0.000,0.000,16.977,881.926,6613.852,476.436,503.093,202.033,33.323,915.052,0.000,457.297,0.000,0.000,0.000
$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,415.185,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324148
$DATA_FILE_SIZE,15878,521
$CAP_FILE_SIZE,71108,0
$CFSIZE,260165632,256139264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,94,0,0
$GPS,210110,015512,4802.396,-12551.674,25,1.1,25,18.0