version: 66.06
glider: 80
mission: 97
dive: 33
start: 1 21 110 11 31 29
data:
$ID,80
$MISSION,97
$DIVE,33
$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,-607295.56
$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
$GPS1,112705,4800.482,-12558.230,31,1.1,31,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,113039,4800.482,-12558.230,28,1.1,28,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.259,0.039
$KALMAN_X,10706.5,-689.9,-184.2,-32849.4,1489.6
$KALMAN_Y,-7644.1,447.2,137.0,-8717.2,-1251.3
$MHEAD_RNG_PITCHd_Wd,260.5,190268,-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,-45.10,0.000,2,0.000,0.000,838,1980,3183,0,0,0,0,0,0
$GC,65,-0.99,-146.0,3.8,-13.7,9,85,8.12,0.00,-8.35,0.000,6,0.004,0.000,2482,1980,3432,6,0,0,0,0,0
$GC,422,-0.99,-146.0,59.3,-13.0,73,427,0.38,0.00,0.00,0.000,6,0.004,0.000,2410,1981,3433,0,0,0,0,0,0
$GC,756,-0.99,-146.0,119.9,-17.2,114,758,0.40,0.00,0.00,0.000,6,0.004,0.000,2480,1982,3433,0,0,0,0,0,0
$GC,1075,-0.99,-146.0,155.5,-11.0,142,1077,0.47,0.00,0.00,0.000,6,0.004,0.000,2410,1981,3434,1,0,0,0,0,0
$GC,1383,-0.99,-146.0,204.7,-15.8,157,1385,0.40,0.00,0.00,0.000,6,0.004,0.000,2483,1982,3433,0,0,0,0,0,0
$GC,1693,-0.99,-146.0,236.6,-10.1,172,1695,0.38,0.00,0.00,0.000,6,0.004,0.000,2416,1981,3433,0,0,0,0,0,0
$GC,2002,-0.99,-146.0,281.9,-14.7,187,2004,0.40,0.00,0.00,0.000,6,0.004,0.000,2485,1980,3433,0,0,0,0,0,0
$GC,2329,-0.99,-146.0,313.5,-9.5,199,2331,0.25,0.00,0.00,0.000,6,0.004,0.000,2417,1980,3433,0,0,0,0,0,0
$GC,2632,-0.99,-146.0,356.0,-14.1,204,2634,0.30,0.00,0.00,0.000,6,0.004,0.000,2491,1982,3433,0,0,0,0,0,0
$GC,2936,-0.99,-146.0,384.0,-9.1,209,2938,0.40,0.00,0.00,0.000,6,0.004,0.000,2421,1982,3432,0,0,0,0,0,0
$GC,3239,-0.99,-146.0,424.6,-13.5,214,3241,0.25,0.00,0.00,0.000,6,0.004,0.000,2498,1979,3432,0,0,0,0,0,0
$GC,3542,-0.99,-146.0,451.2,-8.7,219,3544,0.32,0.00,0.00,0.000,6,0.003,0.000,2426,1980,3433,0,0,0,0,0,0
$GC,3845,-0.99,-146.0,490.2,-12.9,224,3847,0.50,0.00,0.00,0.000,6,0.004,0.000,2499,1981,3435,1,0,0,0,0,0
$STATE,3964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3964,begin apogee
$GC,3969,-0.23,0.0,500.6,10.7,226,4116,0.93,0.00,143.00,0.005,6,0.004,0.000,2664,1980,2838,2,0,0,0,0,0
$STATE,4116,end apogee,CONTROL_FINISHED_OK
$STATE,4116,begin climb
$GC,4118,0.99,146.0,506.4,0.0,228,4267,1.25,0.00,142.80,0.005,6,0.004,0.000,2934,1980,2244,0,0,0,0,0,0
$GC,4569,0.99,146.0,432.7,18.3,236,4571,0.28,0.00,0.00,0.000,6,0.003,0.000,2868,1982,2243,0,0,0,0,0,0
$GC,4872,0.99,146.0,394.2,12.5,241,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1980,2242,0,0,0,0,0,0
$GC,5175,0.99,146.0,356.5,12.4,246,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1980,2243,0,0,0,0,0,0
$GC,5478,0.99,146.0,319.2,12.3,251,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1981,2243,0,0,0,0,0,0
$GC,5784,0.99,146.0,282.0,12.2,260,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1982,2243,0,0,0,0,0,0
$GC,6093,0.99,146.0,244.8,11.9,275,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1981,2245,0,0,0,0,0,0
$GC,6403,0.99,146.0,208.2,11.8,290,6404,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1982,2244,0,0,0,0,0,0
$GC,6712,0.99,146.0,172.5,11.5,305,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1980,2243,0,0,0,0,0,0
$GC,7025,0.99,146.0,137.5,10.8,325,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1982,2244,0,0,0,0,0,0
$GC,7345,0.99,146.0,103.8,10.2,355,7346,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1981,2243,0,0,0,0,0,0
$GC,7667,1.01,163.3,72.4,9.0,392,7687,0.43,0.00,15.60,0.005,6,0.004,0.000,2943,1982,2172,0,0,0,0,0,0
$GC,8025,1.01,163.3,26.4,12.2,456,8030,0.22,0.00,0.00,0.000,6,0.004,0.000,2877,1980,2173,0,0,0,0,0,0
$STATE,8303,end climb,SURFACE_DEPTH_REACHED
$STATE,8303,begin surface coast
$FINISH,0.3,1.008360
$STATE,8326,end surface coast,CONTROL_FINISHED_OK
$STATE,8326,begin surface
$SM_CCo,8344,54.90,0.005,0,0,1817,250.45
$SM_GC,-0.00,0.00,0.00,54.90,0.000,0.000,0.005,840,1979,1817,-8.41,-0.08,250.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,26.09
$INTERNAL_PRESSURE,11.9048
$TCM_TEMP,15.00
$24V_AH,24.0,16.954
$10V_AH,9.8,3.916
$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,25.800,0.000,301.400,54.900,0.000,0.000,0.000,93.824,0.000,0.000,28.918,831.127,6679.962,441.240,463.892,201.345,33.333,818.872,0.000,406.915,0.000,0.000,0.000
$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,415.866,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324092
$DATA_FILE_SIZE,12745,510
$CAP_FILE_SIZE,61738,0
$CFSIZE,260165632,256000000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,10,0,0,0
$GPS,210110,135213,4800.055,-12559.910,17,1.1,17,18.0