version: 66.06
glider: 80
mission: 97
dive: 38
start: 1 21 110 23 46 29
data:
$ID,80
$MISSION,97
$DIVE,38
$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,-607408.5
$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
$GPS1,234202,4758.958,-12606.901,33,1.1,33,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,234538,4758.958,-12606.901,20,1.1,20,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.262,0.000
$KALMAN_X,12027.1,-70.5,38.0,-45727.9,723.0
$KALMAN_Y,-11586.1,-14.3,200.4,-7201.4,-1522.4
$MHEAD_RNG_PITCHd_Wd,252.1,179802,-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,15,-0.99,-146.0,0.0,0.0,0,62,0.00,0.00,-44.72,0.000,2,0.000,0.000,824,2091,3163,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.9,-13.2,9,90,8.10,2.78,-9.12,0.000,4,0.004,0.004,2457,438,3442,1,0,7,0,0,0
$GC,123,-0.99,-146.0,20.8,-16.2,20,129,0.00,2.67,0.00,0.000,6,0.000,0.004,2455,1994,3442,0,0,5,0,0,0
$GC,465,-0.99,-146.0,74.1,-14.6,81,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1995,3442,0,0,0,0,0,0
$GC,798,-0.99,-146.0,119.6,-13.3,116,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1995,3443,0,0,0,0,0,0
$GC,1124,-0.99,-146.0,161.5,-12.6,143,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1995,3444,0,0,0,0,0,0
$GC,1432,-0.99,-146.0,199.6,-12.2,158,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1996,3442,0,0,0,0,0,0
$GC,1742,-0.99,-146.0,236.7,-11.9,173,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1994,3442,0,0,0,0,0,0
$GC,2051,-0.99,-146.0,273.1,-11.6,188,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1995,3442,0,0,0,0,0,0
$GC,2359,-0.99,-146.0,308.8,-11.6,201,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1996,3444,0,0,0,0,0,0
$GC,2662,-0.99,-146.0,343.6,-11.5,206,2667,0.00,2.70,0.00,0.000,4,0.000,0.004,2457,296,3442,0,0,5,0,0,0
$GC,2682,-0.99,-146.0,346.0,-11.6,206,2688,0.00,3.10,0.00,0.000,6,0.000,0.003,2457,2129,3443,0,0,6,0,0,0
$GC,3020,-0.99,-146.0,384.0,-11.3,212,3025,0.00,3.17,0.00,0.000,4,0.000,0.004,2457,500,3443,0,0,9,0,0,0
$GC,3052,-0.99,-146.0,387.7,-11.1,212,3057,0.00,3.53,0.00,0.000,6,0.000,0.004,2457,2128,3442,0,0,7,0,0,0
$GC,3377,-0.99,-146.0,423.9,-11.2,218,3382,0.00,2.83,0.00,0.000,4,0.000,0.004,2458,498,3443,0,0,5,0,0,0
$GC,3408,-0.99,-146.0,427.6,-10.9,218,3413,0.00,2.42,0.00,0.000,6,0.000,0.004,2457,1981,3443,0,0,5,0,0,0
$GC,3741,-0.99,-146.0,464.0,-11.0,224,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1980,3442,0,0,0,0,0,0
$GC,4044,-0.99,-146.0,497.1,-10.9,229,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1979,3444,0,0,0,0,0,0
$STATE,4102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4102,begin apogee
$GC,4107,-0.23,0.0,503.8,10.9,230,4258,0.93,0.00,146.27,0.005,6,0.004,0.000,2628,1979,2838,2,0,0,0,0,0
$STATE,4258,end apogee,CONTROL_FINISHED_OK
$STATE,4259,begin climb
$GC,4261,0.99,146.0,507.2,0.0,232,4410,1.23,0.00,144.55,0.005,6,0.004,0.000,2881,1981,2241,0,0,0,0,0,0
$GC,4708,0.99,146.0,451.6,13.9,240,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1980,2244,0,0,0,0,0,0
$GC,5010,0.99,146.0,409.8,13.8,245,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1979,2241,0,0,0,0,0,0
$GC,5314,0.99,146.0,368.3,13.7,250,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1980,2242,0,0,0,0,0,0
$GC,5617,0.99,146.0,327.3,13.5,255,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1979,2242,0,0,0,0,0,0
$GC,5921,0.99,146.0,286.6,13.3,262,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1979,2243,0,0,0,0,0,0
$GC,6230,0.99,146.0,245.7,13.2,277,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1981,2243,0,0,0,0,0,0
$GC,6541,0.99,146.0,205.6,12.9,292,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1980,2241,0,0,0,0,0,0
$GC,6849,0.99,146.0,166.6,12.4,307,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1980,2243,0,0,0,0,0,0
$GC,7163,0.99,146.0,128.4,11.9,330,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1979,2241,0,0,0,0,0,0
$GC,7483,0.99,146.0,92.2,10.7,360,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1979,2242,0,0,0,0,0,0
$GC,7813,1.00,157.9,59.0,9.3,409,7828,0.00,0.00,11.15,0.005,6,0.000,0.000,2882,1979,2194,0,0,0,0,0,0
$GC,8165,1.05,195.4,28.0,8.1,472,8200,0.00,0.00,32.25,0.005,6,0.000,0.000,2881,1981,2039,0,0,0,0,0,0
$STATE,8405,end climb,SURFACE_DEPTH_REACHED
$STATE,8405,begin surface coast
$FINISH,0.3,1.008360
$STATE,8423,end surface coast,CONTROL_FINISHED_OK
$STATE,8423,begin surface
$SM_CCo,8442,34.70,0.005,0,0,1819,250.45
$SM_GC,-0.00,0.00,0.00,34.70,0.000,0.000,0.005,820,1981,1819,-8.50,-0.17,250.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.025311
$HUMID,23.18
$INTERNAL_PRESSURE,11.9438
$TCM_TEMP,15.00
$24V_AH,24.0,18.247
$10V_AH,9.8,4.048
$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,20.550,23.225,334.225,34.700,0.000,0.000,0.000,96.785,0.000,0.000,21.542,850.764,6686.024,463.944,484.541,210.250,33.355,874.814,0.000,434.590,0.000,0.000,0.000
$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,418.301,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324116
$DATA_FILE_SIZE,15875,519
$CAP_FILE_SIZE,66139,0
$CFSIZE,260165632,255836160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,49,0,0
$GPS,220110,020831,4758.555,-12608.632,17,1.1,17,18.0