version: 66.06
glider: 80
mission: 97
dive: 34
start: 1 21 110 13 56 23
data:
$ID,80
$MISSION,97
$DIVE,34
$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,-607315.25
$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
$GPS1,135213,4800.055,-12559.910,17,1.1,17,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,135532,4800.055,-12559.910,17,1.1,17,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.240,0.104
$KALMAN_X,11128.3,-572.6,-236.1,-35409.9,1568.1
$KALMAN_Y,-8870.2,588.0,42.2,-8326.4,-1721.7
$MHEAD_RNG_PITCHd_Wd,275.5,188089,-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,-44.53,0.000,2,0.000,0.000,842,1980,3168,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.5,-12.1,9,90,7.97,2.25,-9.07,0.000,4,0.004,0.004,2456,559,3438,1,0,5,0,0,0
$GC,117,-0.99,-146.0,19.2,-16.5,19,123,0.00,2.95,0.00,0.000,6,0.000,0.004,2455,2062,3438,0,0,7,0,0,0
$GC,459,-0.99,-146.0,73.0,-15.0,80,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2061,3438,0,0,0,0,0,0
$GC,786,-0.99,-146.0,118.3,-13.3,115,791,0.00,3.15,0.00,0.000,4,0.000,0.004,2456,549,3437,0,0,6,0,0,0
$GC,825,-0.99,-146.0,123.6,-13.1,118,830,0.00,3.17,0.00,0.000,6,0.000,0.004,2456,2110,3438,0,0,7,0,0,0
$GC,1156,-0.99,-146.0,166.1,-12.6,143,1162,0.00,3.15,0.00,0.000,4,0.000,0.004,2456,418,3437,0,0,7,0,0,0
$GC,1183,-0.99,-146.0,169.6,-13.0,144,1187,0.00,2.55,0.00,0.000,6,0.000,0.004,2458,1986,3438,0,0,5,0,0,0
$GC,1504,-0.99,-146.0,209.1,-12.2,160,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1984,3439,0,0,0,0,0,0
$GC,1813,-0.99,-146.0,246.3,-11.9,175,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1986,3437,0,0,0,0,0,0
$GC,2122,-0.99,-146.0,282.8,-11.7,190,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1986,3439,0,0,0,0,0,0
$GC,2469,-0.99,-146.0,323.1,-11.6,201,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1986,3440,0,0,0,0,0,0
$GC,2772,-0.99,-146.0,357.9,-11.4,206,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1984,3438,0,0,0,0,0,0
$GC,3075,-0.99,-146.0,392.3,-11.4,211,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1985,3437,0,0,0,0,0,0
$GC,3379,-0.99,-146.0,426.3,-11.2,216,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1986,3438,0,0,0,0,0,0
$GC,3681,-0.99,-146.0,460.0,-11.1,221,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1984,3435,0,0,0,0,0,0
$GC,3984,-0.99,-146.0,493.3,-11.0,226,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1987,3439,0,0,0,0,0,0
$STATE,4104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4104,begin apogee
$GC,4109,-0.23,0.0,506.5,10.9,228,4257,0.88,0.00,144.88,0.005,6,0.004,0.000,2622,1983,2838,0,0,0,0,0,0
$STATE,4258,end apogee,CONTROL_FINISHED_OK
$STATE,4258,begin climb
$GC,4260,0.99,146.0,510.2,0.0,230,4408,1.25,0.00,144.30,0.005,6,0.003,0.000,2884,1986,2238,0,0,0,0,0,0
$GC,4709,0.99,146.0,453.0,14.2,238,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1985,2242,0,0,0,0,0,0
$GC,5012,0.99,146.0,410.2,14.1,243,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1987,2243,0,0,0,0,0,0
$GC,5315,0.99,146.0,367.8,14.0,248,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1984,2240,0,0,0,0,0,0
$GC,5618,0.99,146.0,325.8,13.8,253,5620,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1984,2240,0,0,0,0,0,0
$GC,5923,0.99,146.0,284.2,13.6,260,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1985,2241,0,0,0,0,0,0
$GC,6232,0.99,146.0,242.5,13.4,275,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1986,2240,0,0,0,0,0,0
$GC,6542,0.99,146.0,201.6,13.1,290,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1985,2240,0,0,0,0,0,0
$GC,6851,0.99,146.0,161.8,12.8,305,6852,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1986,2239,0,0,0,0,0,0
$GC,7166,0.99,146.0,122.9,12.2,330,7167,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1985,2239,0,0,0,0,0,0
$GC,7486,0.99,146.0,86.4,10.8,360,7487,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1985,2241,0,0,0,0,0,0
$GC,7819,1.01,159.5,53.3,9.2,414,7834,0.00,0.00,13.00,0.005,6,0.000,0.000,2886,1983,2186,0,0,0,0,0,0
$GC,8171,1.03,182.8,22.1,8.8,477,8196,0.00,0.00,20.98,0.005,6,0.000,0.000,2886,1985,2090,0,0,0,0,0,0
$STATE,8369,end climb,SURFACE_DEPTH_REACHED
$STATE,8369,begin surface coast
$FINISH,0.1,1.008360
$STATE,8386,end surface coast,CONTROL_FINISHED_OK
$STATE,8386,begin surface
$SM_CCo,8404,42.17,0.005,0,0,1819,250.21
$SM_GC,0.01,0.00,0.00,42.17,0.000,0.000,0.005,872,1985,1819,-8.27,-0.08,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,24.68
$INTERNAL_PRESSURE,11.9341
$TCM_TEMP,15.00
$24V_AH,24.0,17.209
$10V_AH,9.8,3.941
$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,20.275,17.225,323.150,42.175,0.000,0.000,0.000,85.868,0.000,0.000,19.076,841.267,6698.707,454.213,459.703,196.212,33.337,852.087,0.000,416.157,0.000,0.000,0.000
$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,411.304,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324136
$DATA_FILE_SIZE,15894,516
$CAP_FILE_SIZE,63160,0
$CFSIZE,260165632,255967232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,37,0,0
$GPS,210110,161800,4800.127,-12601.730,22,1.1,22,18.0