version: 66.06
glider: 80
mission: 97
dive: 29
start: 1 21 110 1 59 38
data:
$ID,80
$MISSION,97
$DIVE,29
$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,-607199.44
$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,0
$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
$GPS1,015512,4802.396,-12551.674,25,1.1,25,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,015848,4802.396,-12551.674,24,1.1,24,18.0
$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,-0.031
$KALMAN_X,7366.1,49.9,20.5,-22354.5,765.8
$KALMAN_Y,-4736.6,-8.6,8.6,-7493.9,-1051.7
$MHEAD_RNG_PITCHd_Wd,245.1,199060,-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,13,begin dive
$GC,15,-0.99,-146.0,0.0,0.0,0,63,0.00,0.00,-45.50,0.000,2,0.000,0.000,814,1973,3183,0,0,0,0,0,0
$GC,65,-0.99,-146.0,3.8,-13.9,9,91,8.38,2.62,-8.20,0.000,4,0.004,0.004,2528,3542,3431,2,0,6,0,0,0
$GC,118,-0.99,-146.0,17.9,-9.9,19,125,0.45,2.78,0.00,0.000,6,0.004,0.004,2426,1965,3432,0,0,7,0,0,0
$GC,461,-0.99,-146.0,80.3,-17.0,80,463,0.40,0.00,0.00,0.000,6,0.004,0.000,2492,1966,3431,0,0,0,0,0,0
$GC,781,-0.99,-146.0,115.4,-10.6,110,783,0.32,0.00,0.00,0.000,6,0.004,0.000,2416,1965,3432,0,0,0,0,0,0
$GC,1107,-0.99,-146.0,167.3,-15.7,136,1109,0.38,0.00,0.00,0.000,6,0.004,0.000,2484,1965,3432,0,0,0,0,0,0
$GC,1415,-0.99,-146.0,199.9,-10.3,151,1417,0.30,0.00,0.00,0.000,6,0.003,0.000,2406,1965,3431,0,0,0,0,0,0
$GC,1725,-0.99,-146.0,248.1,-15.7,166,1727,0.47,0.00,0.00,0.000,6,0.004,0.000,2480,1965,3430,1,0,0,0,0,0
$GC,2034,-0.99,-146.0,279.8,-10.1,181,2036,0.22,0.00,0.00,0.000,6,0.004,0.000,2408,1965,3431,0,0,0,0,0,0
$GC,2361,-0.99,-146.0,328.5,-14.9,191,2366,0.38,2.50,0.00,0.000,4,0.004,0.004,2478,3458,3432,0,0,6,0,0,0
$GC,2381,-0.99,-146.0,331.1,-11.2,191,2386,0.08,2.38,0.00,0.000,6,0.003,0.004,2454,1990,3430,0,0,6,0,0,0
$GC,2724,-0.99,-146.0,370.2,-11.5,197,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1993,3430,0,0,0,0,0,0
$GC,3027,-0.99,-146.0,404.7,-11.3,202,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1991,3432,0,0,0,0,0,0
$GC,3330,-0.99,-146.0,438.7,-11.2,207,3335,0.00,2.90,0.00,0.000,4,0.000,0.004,2454,380,3431,0,0,6,0,0,0
$GC,3351,-0.99,-146.0,441.1,-11.2,207,3355,0.00,2.58,0.00,0.000,6,0.000,0.003,2453,1993,3433,0,0,6,0,0,0
$GC,3694,-0.99,-146.0,479.1,-11.1,213,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1995,3432,0,0,0,0,0,0
$STATE,3934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3934,begin apogee
$GC,3940,-0.23,0.0,505.7,11.0,217,4087,0.75,0.00,143.30,0.005,6,0.003,0.000,2611,1805,2839,0,0,0,0,0,0
$STATE,4087,end apogee,CONTROL_FINISHED_OK
$STATE,4088,begin climb
$GC,4090,0.99,146.0,509.7,0.0,219,4239,1.12,0.00,142.85,0.005,6,0.004,0.000,2875,1803,2244,0,0,0,0,0,0
$GC,4513,0.99,146.0,459.6,13.3,226,4518,0.00,3.38,0.00,0.000,4,0.000,0.004,2874,3599,2245,0,0,8,0,0,0
$GC,4545,0.99,146.0,455.2,13.6,226,4550,0.00,3.17,0.00,0.000,6,0.000,0.003,2875,1965,2242,0,0,8,0,0,0
$GC,4871,0.99,146.0,412.4,13.2,232,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1967,2243,0,0,0,0,0,0
$GC,5174,0.99,146.0,372.8,13.0,237,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1968,2243,0,0,0,0,0,0
$GC,5477,0.99,146.0,333.6,12.9,242,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1966,2242,0,0,0,0,0,0
$GC,5780,0.99,146.0,294.8,12.8,247,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1967,2242,0,0,0,0,0,0
$GC,6090,0.99,146.0,255.8,12.7,262,6091,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1965,2242,0,0,0,0,0,0
$GC,6399,0.99,146.0,217.4,12.3,277,6404,0.00,2.70,0.00,0.000,4,0.000,0.004,2875,3532,2244,0,0,7,0,0,0
$GC,6419,0.99,146.0,214.7,12.2,278,6424,0.00,2.72,0.00,0.000,6,0.000,0.004,2874,1958,2243,0,0,6,0,0,0
$GC,6741,0.99,146.0,175.9,11.9,294,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1961,2242,0,0,0,0,0,0
$GC,7052,0.99,146.0,139.3,11.4,313,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1957,2243,0,0,0,0,0,0
$GC,7372,0.99,146.0,103.9,10.8,343,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1961,2240,0,0,0,0,0,0
$GC,7695,1.00,155.8,71.3,9.4,381,7710,0.00,2.55,10.07,0.005,4,0.000,0.004,2874,3604,2202,0,0,4,0,0,0
$GC,7727,1.01,161.7,68.2,9.5,387,7743,0.00,3.12,7.32,0.005,6,0.000,0.004,2875,1914,2178,0,0,6,0,0,0
$GC,8081,1.05,194.6,36.0,8.3,450,8112,0.35,0.00,28.08,0.005,6,0.004,0.000,2948,1912,2045,0,0,0,0,0,0
$STATE,8312,end climb,SURFACE_DEPTH_REACHED
$STATE,8312,begin surface coast
$FINISH,-0.0,1.008360
$STATE,8324,end surface coast,CONTROL_FINISHED_OK
$STATE,8325,begin surface
$SM_CCo,8344,34.50,0.005,0,0,1818,250.45
$SM_GC,-0.00,0.00,0.00,34.50,0.000,0.000,0.005,858,2029,1818,-8.34,1.24,250.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,19.28
$INTERNAL_PRESSURE,11.9145
$TCM_TEMP,15.00
$24V_AH,24.0,15.949
$10V_AH,9.8,3.817
$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,24.025,33.600,331.625,34.500,0.000,0.000,0.000,94.579,0.000,0.000,24.798,834.703,6612.500,451.154,493.715,212.269,33.325,872.742,0.000,438.794,0.000,0.000,0.000
$DEVICE_MAMPS,3.835,4.602,4.602,4.602,0.000,103.000,0.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,26.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,empty,nil
$SENSOR_SECS,400.428,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324168
$DATA_FILE_SIZE,12722,494
$CAP_FILE_SIZE,70765,0
$CFSIZE,260165632,256106496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,76,0,0
$GPS,210110,042021,4801.804,-12553.253,29,1.1,29,18.0