version: 66.06
glider: 80
mission: 97
dive: 32
start: 1 21 110 9 9 30
data:
$ID,80
$MISSION,97
$DIVE,32
$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,-607266
$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
$GPS1,090515,4800.908,-12556.555,19,1.1,19,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,090839,4800.908,-12556.555,21,1.1,21,18.0
$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,-0.019
$KALMAN_X,9935.4,-597.4,-47.6,-30238.2,1188.5
$KALMAN_Y,-6767.9,184.4,95.3,-8500.1,-896.6
$MHEAD_RNG_PITCHd_Wd,247.9,192444,-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,14,-0.99,-146.0,0.0,0.0,0,62,0.00,0.00,-44.97,0.000,2,0.000,0.000,849,1982,3166,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.8,-13.4,9,84,7.80,0.00,-8.20,0.000,6,0.004,0.000,2439,1982,3432,1,0,0,0,0,0
$GC,421,-0.99,-146.0,71.8,-16.2,73,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1982,3433,0,0,0,0,0,0
$GC,754,-0.99,-146.0,122.0,-14.4,109,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1982,3434,0,0,0,0,0,0
$GC,1078,-0.99,-146.0,167.6,-13.8,134,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1981,3433,0,0,0,0,0,0
$GC,1387,-0.99,-146.0,209.1,-13.2,149,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1982,3433,0,0,0,0,0,0
$GC,1697,-0.99,-146.0,249.5,-13.0,164,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1981,3432,0,0,0,0,0,0
$GC,2006,-0.99,-146.0,289.1,-12.8,179,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1982,3432,0,0,0,0,0,0
$GC,2352,-0.99,-146.0,332.7,-12.6,188,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1981,3432,0,0,0,0,0,0
$GC,2655,-0.99,-146.0,370.4,-12.4,193,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1981,3433,0,0,0,0,0,0
$GC,2958,-0.99,-146.0,407.6,-12.3,198,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1982,3432,0,0,0,0,0,0
$GC,3261,-0.99,-146.0,444.3,-12.1,203,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1981,3431,0,0,0,0,0,0
$GC,3564,-0.99,-146.0,480.6,-12.0,208,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1982,3433,0,0,0,0,0,0
$STATE,3744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3744,begin apogee
$GC,3749,-0.23,0.0,502.3,11.9,211,3896,0.85,0.00,143.25,0.005,6,0.004,0.000,2612,1981,2835,0,0,0,0,0,0
$STATE,3896,end apogee,CONTROL_FINISHED_OK
$STATE,3897,begin climb
$GC,3898,0.99,146.0,506.2,0.0,213,4047,1.40,0.00,143.30,0.005,6,0.004,0.000,2879,1981,2243,1,0,0,0,0,0
$GC,4350,0.99,146.0,451.4,13.6,221,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1980,2243,0,0,0,0,0,0
$GC,4652,0.99,146.0,410.6,13.4,226,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1982,2243,0,0,0,0,0,0
$GC,4955,0.99,146.0,370.1,13.3,231,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1982,2242,0,0,0,0,0,0
$GC,5259,0.99,146.0,330.1,13.2,236,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1982,2242,0,0,0,0,0,0
$GC,5563,0.99,146.0,290.4,13.0,243,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1979,2242,0,0,0,0,0,0
$GC,5872,0.99,146.0,250.5,12.8,258,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1980,2243,0,0,0,0,0,0
$GC,6182,0.99,146.0,211.4,12.5,273,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1981,2242,0,0,0,0,0,0
$GC,6491,0.99,146.0,173.2,12.2,288,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1980,2243,0,0,0,0,0,0
$GC,6803,0.99,146.0,135.8,11.6,308,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1980,2242,0,0,0,0,0,0
$GC,7123,0.99,146.0,100.0,11.0,338,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1980,2242,0,0,0,0,0,0
$GC,7448,1.00,155.0,67.0,9.4,379,7462,0.00,0.00,9.23,0.005,6,0.000,0.000,2878,1980,2206,0,0,0,0,0,0
$GC,7799,1.05,194.7,35.8,8.0,442,7835,0.00,0.00,33.83,0.005,6,0.000,0.000,2879,1980,2043,0,0,0,0,0,0
$STATE,8125,end climb,SURFACE_DEPTH_REACHED
$STATE,8125,begin surface coast
$FINISH,0.3,1.008360
$STATE,8144,end surface coast,CONTROL_FINISHED_OK
$STATE,8144,begin surface
$SM_CCo,8163,35.05,0.005,0,0,1818,250.21
$SM_GC,0.00,0.00,0.00,35.05,0.000,0.000,0.005,839,1980,1818,-8.42,-0.08,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,24.71
$INTERNAL_PRESSURE,11.9048
$TCM_TEMP,15.00
$24V_AH,24.0,16.705
$10V_AH,9.8,3.891
$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,20.350,0.000,329.600,35.050,0.000,0.000,0.000,88.847,0.000,0.000,22.824,804.577,6521.902,436.907,450.182,192.650,33.327,813.041,0.000,402.683,0.000,0.000,0.000
$DEVICE_MAMPS,3.835,0.000,4.602,4.602,0.000,103.000,0.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,26.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,empty,nil
$SENSOR_SECS,406.533,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324104
$DATA_FILE_SIZE,12723,504
$CAP_FILE_SIZE,57643,0
$CFSIZE,260165632,256032768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,210110,112705,4800.482,-12558.230,31,1.1,31,18.0