version: 66.06
glider: 80
mission: 97
dive: 37
start: 1 21 110 21 19 19
data:
$ID,80
$MISSION,97
$DIVE,37
$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,-607386.31
$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,1
$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
$GPS1,211459,4759.503,-12605.268,25,1.1,26,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,211827,4759.503,-12605.268,17,1.1,18,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.262,-0.004
$KALMAN_X,11517.7,-108.7,-56.8,-43064.5,782.5
$KALMAN_Y,-10825.4,59.0,320.1,-7147.3,-1424.5
$MHEAD_RNG_PITCHd_Wd,251.1,182055,-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,-146.0,0.0,0.0,0,62,0.00,0.00,-44.55,0.000,2,0.000,0.000,826,1983,3179,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.6,-12.7,9,85,8.32,0.00,-8.30,0.000,6,0.004,0.000,2524,1982,3432,4,0,0,0,0,0
$GC,422,-0.99,-146.0,48.3,-10.1,73,426,0.25,0.00,0.00,0.000,6,0.004,0.000,2460,1982,3433,0,0,0,0,0,0
$GC,762,-0.99,-146.0,96.8,-13.6,124,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1982,3432,0,0,0,0,0,0
$GC,1082,-0.99,-146.0,138.4,-12.8,154,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1984,3432,0,0,0,0,0,0
$GC,1403,-0.99,-146.0,178.3,-12.2,174,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1981,3432,0,0,0,0,0,0
$GC,1712,-0.99,-146.0,215.3,-11.8,189,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1981,3432,0,0,0,0,0,0
$GC,2022,-0.99,-146.0,251.5,-11.7,204,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1984,3432,0,0,0,0,0,0
$GC,2331,-0.99,-146.0,287.1,-11.4,219,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1984,3432,0,0,0,0,0,0
$GC,2637,-0.99,-146.0,321.8,-11.3,228,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1985,3433,0,0,0,0,0,0
$GC,2940,-0.99,-146.0,355.8,-11.2,233,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1984,3432,0,0,0,0,0,0
$GC,3243,-0.99,-146.0,389.4,-11.1,238,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1982,3433,0,0,0,0,0,0
$GC,3546,-0.99,-146.0,422.6,-11.0,243,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1985,3435,0,0,0,0,0,0
$GC,3849,-0.99,-146.0,455.5,-10.8,248,3854,0.00,2.55,0.00,0.000,4,0.000,0.004,2459,402,3433,0,0,6,0,0,0
$GC,3871,-0.99,-146.0,457.9,-10.8,248,3876,0.00,2.90,0.00,0.000,6,0.000,0.003,2458,2191,3432,0,0,5,0,0,0
$GC,4207,-0.99,-146.0,494.0,-10.7,254,4212,0.00,3.35,0.00,0.000,4,0.000,0.004,2459,421,3432,0,0,8,0,0,0
$GC,4250,-0.99,-146.0,498.7,-10.9,254,4255,0.00,3.38,0.00,0.000,6,0.000,0.004,2459,2103,3432,0,0,8,0,0,0
$STATE,4320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4320,begin apogee
$GC,4325,-0.23,0.0,506.3,10.6,256,4472,0.88,0.00,142.90,0.005,6,0.003,0.000,2626,1895,2838,0,0,0,0,0,0
$STATE,4473,end apogee,CONTROL_FINISHED_OK
$STATE,4473,begin climb
$GC,4475,0.99,146.0,510.0,0.0,258,4623,1.20,0.00,144.35,0.005,6,0.004,0.000,2893,1896,2242,0,0,0,0,0,0
$GC,4926,0.99,146.0,449.7,14.9,266,4931,0.00,3.60,0.00,0.000,4,0.000,0.004,2895,3610,2242,0,0,9,0,0,0
$GC,4946,0.99,146.0,446.3,15.4,266,4952,0.00,3.20,0.00,0.000,6,0.000,0.003,2894,1925,2241,0,0,8,0,0,0
$GC,5284,0.99,146.0,396.6,14.8,272,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1922,2242,0,0,0,0,0,0
$GC,5587,0.99,146.0,352.2,14.6,277,5592,0.00,2.92,0.00,0.000,4,0.000,0.004,2894,3404,2242,0,0,6,0,0,0
$GC,5613,0.99,146.0,348.3,15.0,277,5617,0.00,2.22,0.00,0.000,6,0.000,0.004,2894,1965,2240,0,0,4,0,0,0
$GC,5950,0.99,146.0,299.7,14.4,283,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1964,2241,0,0,0,0,0,0
$GC,6260,0.99,146.0,255.6,14.3,298,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1964,2242,0,0,0,0,0,0
$GC,6569,0.99,146.0,212.4,13.9,313,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1963,2241,0,0,0,0,0,0
$GC,6878,0.99,146.0,170.3,13.4,328,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1965,2240,0,0,0,0,0,0
$GC,7192,0.99,146.0,129.2,12.9,350,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1964,2242,0,0,0,0,0,0
$GC,7513,0.99,146.0,90.4,11.7,380,7517,0.00,2.67,0.00,0.000,4,0.000,0.004,2895,3422,2241,0,0,6,0,0,0
$GC,7533,0.99,146.0,87.8,11.8,381,7539,0.00,2.38,0.00,0.000,6,0.000,0.004,2894,1934,2240,0,0,5,0,0,0
$GC,7872,0.99,149.4,52.4,9.7,435,7881,0.00,0.00,4.22,0.004,6,0.000,0.000,2894,1932,2230,0,0,0,0,0,0
$GC,8218,1.03,177.9,23.1,8.5,497,8249,0.00,2.67,25.58,0.005,4,0.000,0.004,2892,3498,2111,0,0,5,0,0,0
$GC,8271,1.03,177.9,18.0,10.4,507,8276,0.00,2.55,0.00,0.000,6,0.000,0.004,2895,1904,2108,0,0,6,0,0,0
$STATE,8421,end climb,SURFACE_DEPTH_REACHED
$STATE,8421,begin surface coast
$FINISH,0.3,1.008360
$STATE,8438,end surface coast,CONTROL_FINISHED_OK
$STATE,8438,begin surface
$SM_CCo,8457,45.28,0.005,0,0,1816,250.45
$SM_GC,0.00,0.00,0.00,45.28,0.000,0.000,0.005,824,2092,1816,-8.49,2.94,250.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,20.86
$INTERNAL_PRESSURE,11.9536
$TCM_TEMP,15.00
$24V_AH,24.0,17.988
$10V_AH,9.8,4.022
$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,21.025,35.575,317.050,45.275,0.000,0.000,0.000,92.431,0.000,0.000,18.050,890.492,6639.343,467.883,504.735,210.357,33.361,898.868,0.000,454.745,0.000,0.000,0.000
$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,432.507,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324112
$DATA_FILE_SIZE,15860,537
$CAP_FILE_SIZE,70254,0
$CFSIZE,260165632,255864832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,81,0,0
$GPS,210110,234202,4758.958,-12606.901,33,1.1,33,18.0