version: 66.06
glider: 80
mission: 97
dive: 39
start: 1 22 110 2 12 37
data:
$ID,80
$MISSION,97
$DIVE,39
$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,-607419.38
$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
$GPS1,020831,4758.555,-12608.632,17,1.1,17,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,021147,4758.555,-12608.632,9,1.1,9,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.256,-0.053
$KALMAN_X,12526.0,-18.1,9.0,-48388.4,663.0
$KALMAN_Y,-12045.4,-18.5,-58.6,-7227.3,-992.2
$MHEAD_RNG_PITCHd_Wd,240.2,177614,-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,-44.83,0.000,2,0.000,0.000,820,1980,3171,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.6,-12.3,9,90,8.27,2.78,-8.90,0.000,4,0.004,0.004,2521,3578,3443,2,0,7,0,0,0
$GC,106,-0.99,-146.0,15.3,-10.2,17,113,0.45,3.38,0.00,0.000,6,0.004,0.004,2427,1919,3444,0,0,8,0,0,0
$GC,449,-0.99,-146.0,78.0,-17.2,78,454,0.43,0.00,0.00,0.000,6,0.004,0.000,2497,1918,3443,0,0,0,0,0,0
$GC,774,-0.99,-146.0,113.0,-10.3,110,780,0.28,2.75,0.00,0.000,4,0.004,0.004,2426,3572,3444,0,0,6,0,0,0
$GC,802,-0.99,-146.0,117.2,-15.4,112,808,0.45,3.17,0.00,0.000,6,0.003,0.004,2523,1750,3444,0,0,6,0,0,0
$GC,1126,-0.99,-146.0,145.2,-8.3,142,1135,0.47,3.33,0.00,0.000,4,0.004,0.004,2452,3555,3445,1,0,8,0,0,0
$GC,1173,-0.99,-146.0,151.4,-13.5,146,1177,0.00,2.60,0.00,0.000,6,0.000,0.004,2452,1954,3443,0,0,7,0,0,0
$GC,1500,-0.99,-146.0,193.6,-12.8,162,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1953,3445,0,0,0,0,0,0
$GC,1809,-0.99,-146.0,232.4,-12.4,177,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1954,3443,0,0,0,0,0,0
$GC,2118,-0.99,-146.0,270.5,-12.2,192,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1954,3444,0,0,0,0,0,0
$GC,2426,-0.99,-146.0,308.0,-12.1,205,2431,0.00,2.58,0.00,0.000,4,0.000,0.004,2451,3492,3446,0,0,5,0,0,0
$GC,2447,-0.99,-146.0,310.5,-11.9,205,2452,0.00,3.03,0.00,0.000,6,0.000,0.004,2451,1969,3445,0,0,6,0,0,0
$GC,2784,-0.99,-146.0,350.7,-11.9,211,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1967,3443,0,0,0,0,0,0
$GC,3087,-0.99,-146.0,386.5,-11.8,216,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1969,3443,0,0,0,0,0,0
$GC,3390,-0.99,-146.0,421.9,-11.6,221,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1969,3446,0,0,0,0,0,0
$GC,3693,-0.99,-146.0,456.9,-11.5,226,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1968,3442,0,0,0,0,0,0
$GC,3996,-0.99,-146.0,491.6,-11.4,231,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1968,3444,0,0,0,0,0,0
$STATE,4116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4116,begin apogee
$GC,4121,-0.23,0.0,505.3,11.4,233,4271,0.85,0.00,146.25,0.005,6,0.004,0.000,2616,2170,2839,0,0,0,0,0,0
$STATE,4272,end apogee,CONTROL_FINISHED_OK
$STATE,4272,begin climb
$GC,4274,0.99,146.0,509.3,0.0,235,4423,1.58,0.00,143.35,0.005,6,0.004,0.000,2947,2169,2240,0,0,0,0,0,0
$GC,4721,0.99,146.0,431.2,19.7,243,4727,0.45,3.25,0.00,0.000,4,0.004,0.004,2880,465,2241,0,0,7,0,0,0
$GC,4771,0.99,146.0,423.9,13.4,243,4776,0.00,3.15,0.00,0.000,6,0.000,0.003,2881,2054,2241,0,0,6,0,0,0
$GC,5080,0.99,146.0,382.2,13.5,248,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2055,2242,0,0,0,0,0,0
$GC,5383,0.99,146.0,341.6,13.4,253,5388,0.00,2.78,0.00,0.000,4,0.000,0.004,2881,504,2240,0,0,4,0,0,0
$GC,5414,0.99,146.0,337.2,13.1,253,5419,0.00,2.72,0.00,0.000,6,0.000,0.003,2880,2001,2241,0,0,6,0,0,0
$GC,5747,0.99,146.0,293.4,13.2,259,5748,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1998,2240,0,0,0,0,0,0
$GC,6056,0.99,146.0,253.0,13.0,274,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1999,2239,0,0,0,0,0,0
$GC,6365,0.99,146.0,213.3,12.7,289,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2000,2240,0,0,0,0,0,0
$GC,6674,0.99,146.0,174.5,12.4,304,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2000,2240,0,0,0,0,0,0
$GC,6987,0.99,146.0,136.5,11.8,324,6991,0.00,2.67,0.00,0.000,4,0.000,0.004,2881,377,2240,0,0,4,0,0,0
$GC,7007,0.99,146.0,134.0,12.0,325,7013,0.00,3.60,0.00,0.000,6,0.000,0.003,2881,2224,2239,0,0,9,0,0,0
$GC,7332,0.99,146.0,97.2,11.0,356,7338,0.00,3.85,0.00,0.000,4,0.000,0.004,2881,473,2241,0,0,9,0,0,0
$GC,7382,0.99,146.0,91.8,10.7,360,7387,0.00,2.72,0.00,0.000,6,0.000,0.004,2881,2045,2240,0,0,7,0,0,0
$GC,7718,1.01,160.7,58.6,9.1,409,7733,0.00,0.00,13.75,0.005,6,0.000,0.000,2880,2044,2183,0,0,0,0,0,0
$GC,8070,1.04,186.4,27.4,8.6,472,8101,0.00,2.38,23.05,0.005,4,0.000,0.004,2881,373,2077,0,0,8,0,0,0
$GC,8123,1.04,186.4,22.3,10.3,482,8128,0.00,2.80,0.00,0.000,6,0.000,0.004,2881,2064,2079,0,0,6,0,0,0
$STATE,8323,end climb,SURFACE_DEPTH_REACHED
$STATE,8323,begin surface coast
$FINISH,0.1,1.008360
$STATE,8341,end surface coast,CONTROL_FINISHED_OK
$STATE,8341,begin surface
$SM_CCo,8360,40.45,0.005,0,0,1818,250.45
$SM_GC,0.00,0.00,0.00,40.45,0.000,0.000,0.005,837,1873,1818,-8.44,-3.22,250.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,21.09
$INTERNAL_PRESSURE,11.9634
$TCM_TEMP,15.00
$24V_AH,24.0,18.505
$10V_AH,9.8,4.074
$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,23.650,54.225,326.400,40.450,0.000,0.000,0.000,91.788,0.000,0.000,10.223,873.638,6530.035,484.270,501.802,210.052,33.354,925.859,0.000,461.625,0.000,0.000,0.000
$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,419.464,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324092
$DATA_FILE_SIZE,15876,521
$CAP_FILE_SIZE,73924,0
$CFSIZE,260165632,255799296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,121,0,0
$GPS,220110,043314,4757.983,-12610.221,9,1.1,9,18.0