version: 66.06
glider: 80
mission: 97
dive: 35
start: 1 21 110 16 22 30
data:
$ID,80
$MISSION,97
$DIVE,35
$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,-607343.44
$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,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
$GPS1,161800,4800.127,-12601.730,22,1.1,22,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,162139,4800.127,-12601.730,27,1.1,27,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.261,0.022
$KALMAN_X,10919.6,-303.2,-179.7,-37773.1,1004.0
$KALMAN_Y,-9529.9,454.6,-50.5,-7311.3,-1480.8
$MHEAD_RNG_PITCHd_Wd,256.7,186320,-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,-45.00,0.000,2,0.000,0.000,873,1983,3181,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.9,-13.6,9,86,7.62,2.60,-8.12,0.000,4,0.004,0.004,2461,3516,3434,6,0,6,0,0,0
$GC,119,-0.99,-146.0,19.3,-15.8,19,125,0.00,3.85,0.00,0.000,6,0.000,0.004,2460,1816,3432,0,0,9,0,0,0
$GC,462,-0.99,-146.0,71.3,-14.3,80,467,0.00,2.95,0.00,0.000,4,0.000,0.004,2461,3477,3432,0,0,6,0,0,0
$GC,500,-0.99,-146.0,76.7,-14.0,87,505,0.00,2.72,0.00,0.000,6,0.000,0.004,2460,1935,3431,0,0,7,0,0,0
$GC,825,-0.99,-146.0,119.8,-12.8,120,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1935,3432,0,0,0,0,0,0
$GC,1152,-0.99,-146.0,160.5,-12.1,147,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1933,3432,0,0,0,0,0,0
$GC,1461,-0.99,-146.0,197.5,-12.0,162,1465,0.00,2.53,0.00,0.000,4,0.000,0.004,2460,3486,3433,0,0,4,0,0,0
$GC,1487,-0.99,-146.0,200.6,-11.9,163,1491,0.00,2.58,0.00,0.000,6,0.000,0.004,2461,1962,3432,0,0,4,0,0,0
$GC,1802,-0.99,-146.0,237.0,-11.5,178,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1959,3432,0,0,0,0,0,0
$GC,2111,-0.99,-146.0,272.3,-11.3,193,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1960,3431,0,0,0,0,0,0
$GC,2420,-0.99,-146.0,306.8,-11.1,206,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1960,3433,0,0,0,0,0,0
$GC,2722,-0.99,-146.0,340.5,-11.1,211,2727,0.00,2.65,0.00,0.000,4,0.000,0.004,2461,3559,3431,0,0,4,0,0,0
$GC,2743,-0.99,-146.0,342.8,-11.1,211,2747,0.00,2.50,0.00,0.000,6,0.000,0.004,2461,1967,3433,0,0,4,0,0,0
$GC,3086,-0.99,-146.0,380.2,-10.9,217,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1970,3432,0,0,0,0,0,0
$GC,3389,-0.99,-146.0,412.9,-10.8,222,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1968,3432,0,0,0,0,0,0
$GC,3692,-0.99,-146.0,445.4,-10.7,227,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1967,3430,0,0,0,0,0,0
$GC,3995,-0.99,-146.0,477.6,-10.6,232,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1969,3432,0,0,0,0,0,0
$STATE,4236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4236,begin apogee
$GC,4241,-0.23,0.0,503.1,10.5,236,4388,0.73,0.00,143.62,0.005,6,0.003,0.000,2621,2163,2838,0,0,0,0,0,0
$STATE,4389,end apogee,CONTROL_FINISHED_OK
$STATE,4389,begin climb
$GC,4391,0.99,146.0,506.7,0.0,238,4539,1.48,0.00,143.15,0.005,6,0.004,0.000,2895,2164,2244,1,0,0,0,0,0
$GC,4841,0.99,146.0,446.3,15.0,246,4846,0.00,3.00,0.00,0.000,4,0.000,0.004,2895,451,2242,0,0,6,0,0,0
$GC,4889,0.99,146.0,438.9,14.7,246,4894,0.00,2.58,0.00,0.000,6,0.000,0.003,2895,2033,2242,0,0,4,0,0,0
$GC,5205,0.99,146.0,392.3,14.9,252,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2036,2243,0,0,0,0,0,0
$GC,5507,0.99,146.0,347.8,14.7,257,5512,0.00,2.55,0.00,0.000,4,0.000,0.004,2896,443,2243,0,0,5,0,0,0
$GC,5527,0.99,146.0,344.7,14.8,257,5532,0.00,2.72,0.00,0.000,6,0.000,0.003,2896,1994,2243,0,0,6,0,0,0
$GC,5865,0.99,146.0,295.9,14.5,263,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1994,2243,0,0,0,0,0,0
$GC,6175,0.99,146.0,251.8,14.3,278,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1993,2244,0,0,0,0,0,0
$GC,6484,0.99,146.0,208.5,13.9,293,6485,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1994,2243,0,0,0,0,0,0
$GC,6793,0.99,146.0,166.3,13.5,308,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1995,2244,0,0,0,0,0,0
$GC,7108,0.99,146.0,125.2,12.9,332,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1992,2245,0,0,0,0,0,0
$GC,7428,0.99,146.0,86.6,11.4,362,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1994,2244,0,0,0,0,0,0
$GC,7760,1.00,150.9,51.9,9.6,416,7770,0.00,0.00,6.10,0.005,6,0.000,0.000,2896,1994,2221,0,0,0,0,0,0
$GC,8107,1.03,175.7,21.8,8.7,478,8137,0.00,2.42,21.92,0.005,4,0.000,0.004,2895,418,2122,0,0,6,0,0,0
$GC,8153,1.03,175.7,17.3,10.3,487,8159,0.00,3.38,0.00,0.000,6,0.000,0.004,2897,2100,2123,0,0,7,0,0,0
$STATE,8297,end climb,SURFACE_DEPTH_REACHED
$STATE,8299,begin surface coast
$FINISH,0.5,1.008360
$STATE,8315,end surface coast,CONTROL_FINISHED_OK
$STATE,8315,begin surface
$SM_CCo,8334,47.38,0.005,0,0,1816,250.45
$SM_GC,-0.00,0.00,0.00,47.38,0.000,0.000,0.005,839,1905,1816,-8.40,-2.26,250.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,22.98
$INTERNAL_PRESSURE,11.9438
$TCM_TEMP,15.00
$24V_AH,24.0,17.466
$10V_AH,9.8,3.967
$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,19.925,39.675,314.800,47.375,0.000,0.000,0.000,94.839,0.000,0.000,27.557,868.055,6575.599,459.498,499.695,209.847,33.346,886.947,0.000,445.343,0.000,0.000,0.000
$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,414.972,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324136
$DATA_FILE_SIZE,15889,516
$CAP_FILE_SIZE,69616,0
$CFSIZE,260165632,255934464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,8,80,0,0
$GPS,210110,184303,4759.856,-12603.476,15,1.1,16,18.0