version: 66.06
glider: 80
mission: 97
dive: 40
start: 1 22 110 4 37 54
data:
$ID,80
$MISSION,97
$DIVE,40
$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,-607446.38
$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
$GPS1,043314,4757.983,-12610.221,9,1.1,9,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-70.0
$GPS2,043704,4757.983,-12610.221,25,1.1,25,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.252,-0.068
$KALMAN_X,13220.2,-4.3,-52.0,-50999.5,846.6
$KALMAN_Y,-12645.3,97.9,-69.2,-7790.9,-671.1
$MHEAD_RNG_PITCHd_Wd,236.9,175378,-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,-44.65,0.000,2,0.000,0.000,837,1872,3177,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.8,-13.1,9,90,8.12,2.67,-8.65,0.000,4,0.004,0.004,2488,3433,3441,7,0,7,0,0,0
$GC,134,-0.99,-146.0,20.3,-13.2,22,140,0.43,2.67,0.00,0.000,6,0.004,0.004,2398,1778,3440,0,0,5,0,0,0
$GC,474,-0.99,-146.0,91.1,-19.2,78,480,0.35,2.92,0.00,0.000,4,0.004,0.004,2471,3538,3443,0,0,5,0,0,0
$GC,517,-0.99,-146.0,97.1,-12.8,81,524,0.00,2.67,0.00,0.000,6,0.000,0.004,2473,1963,3441,0,0,5,0,0,0
$GC,843,-0.99,-146.0,136.8,-11.9,112,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1962,3440,0,0,0,0,0,0
$GC,1165,-0.99,-146.0,174.4,-11.6,133,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1964,3440,0,0,0,0,0,0
$GC,1475,-0.99,-146.0,209.4,-11.2,148,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1963,3442,0,0,0,0,0,0
$GC,1784,-0.99,-146.0,243.6,-11.0,163,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1963,3441,0,0,0,0,0,0
$GC,2093,-0.99,-146.0,277.2,-10.9,178,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1962,3441,0,0,0,0,0,0
$GC,2441,-0.99,-146.0,314.6,-10.7,191,2447,0.00,3.20,0.00,0.000,4,0.000,0.004,2470,3562,3441,0,0,6,0,0,0
$GC,2462,-0.99,-146.0,316.9,-10.5,191,2467,0.00,2.92,0.00,0.000,6,0.000,0.004,2471,1910,3441,0,0,5,0,0,0
$GC,2805,-0.99,-146.0,353.1,-10.6,197,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1913,3442,0,0,0,0,0,0
$GC,3108,-0.99,-146.0,384.8,-10.4,202,3113,0.00,2.70,0.00,0.000,4,0.000,0.004,2472,3477,3441,0,0,7,0,0,0
$GC,3140,-0.99,-146.0,388.3,-10.3,202,3145,0.00,2.38,0.00,0.000,6,0.000,0.003,2471,1959,3442,0,0,5,0,0,0
$GC,3472,-0.99,-146.0,422.5,-10.3,208,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1961,3442,0,0,0,0,0,0
$GC,3775,-0.99,-146.0,453.5,-10.2,213,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1960,3441,0,0,0,0,0,0
$GC,4078,-0.99,-146.0,484.3,-10.1,218,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1959,3441,0,0,0,0,0,0
$STATE,4258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4258,begin apogee
$GC,4263,-0.23,0.0,502.7,10.1,221,4412,0.95,0.00,145.05,0.005,6,0.004,0.000,2636,2172,2837,1,0,0,0,0,0
$STATE,4412,end apogee,CONTROL_FINISHED_OK
$STATE,4413,begin climb
$GC,4415,0.99,146.0,506.0,0.0,223,4564,1.33,0.00,144.30,0.005,6,0.003,0.000,2905,2173,2241,0,0,0,0,0,0
$GC,4863,0.99,146.0,443.0,15.7,231,4868,0.00,2.92,0.00,0.000,4,0.000,0.004,2904,412,2241,0,0,5,0,0,0
$GC,4917,0.99,146.0,434.3,15.4,231,4923,0.00,3.17,0.00,0.000,6,0.000,0.003,2904,2041,2240,0,0,8,0,0,0
$GC,5226,0.99,146.0,386.4,15.6,237,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2040,2241,0,0,0,0,0,0
$GC,5530,0.99,146.0,339.8,15.4,242,5534,0.00,2.70,0.00,0.000,4,0.000,0.004,2906,395,2239,0,0,4,0,0,0
$GC,5550,0.99,146.0,336.5,15.7,242,5555,0.00,3.15,0.00,0.000,6,0.000,0.003,2905,2069,2241,0,0,8,0,0,0
$GC,5868,0.99,146.0,288.4,15.1,249,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2068,2240,0,0,0,0,0,0
$GC,6177,0.99,146.0,242.2,14.8,264,6182,0.00,2.92,0.00,0.000,4,0.000,0.004,2904,543,2240,0,0,5,0,0,0
$GC,6215,0.99,146.0,236.5,14.7,266,6220,0.00,2.40,0.00,0.000,6,0.000,0.004,2905,2011,2242,0,0,4,0,0,0
$GC,6541,0.99,146.0,189.2,14.5,282,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2013,2241,0,0,0,0,0,0
$GC,6850,0.99,146.0,145.5,13.8,298,6852,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2011,2241,0,0,0,0,0,0
$GC,7170,0.99,146.0,103.4,12.8,328,7175,0.00,2.70,0.00,0.000,4,0.000,0.004,2904,493,2242,0,0,6,0,0,0
$GC,7190,0.99,146.0,100.5,13.2,329,7197,0.00,3.12,0.00,0.000,6,0.000,0.004,2904,2076,2241,0,0,8,0,0,0
$GC,7524,0.99,146.0,61.9,10.6,374,7529,0.00,2.67,0.00,0.000,4,0.000,0.004,2904,501,2241,0,0,4,0,0,0
$GC,7545,0.99,146.0,59.6,10.6,378,7551,0.00,2.70,0.00,0.000,6,0.000,0.004,2904,2058,2241,0,0,5,0,0,0
$GC,7888,1.03,182.2,28.5,8.2,439,7923,0.00,0.00,31.05,0.005,6,0.000,0.000,2905,2059,2095,0,0,0,0,0,0
$STATE,8123,end climb,SURFACE_DEPTH_REACHED
$STATE,8123,begin surface coast
$FINISH,0.3,1.008359
$STATE,8141,end surface coast,CONTROL_FINISHED_OK
$STATE,8141,begin surface
$SM_CCo,8160,42.78,0.005,0,0,1816,250.45
$SM_GC,-0.00,0.00,0.00,42.78,0.000,0.000,0.005,817,1856,1816,-8.54,-3.68,250.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,20.46
$INTERNAL_PRESSURE,11.9634
$TCM_TEMP,15.00
$24V_AH,24.0,18.760
$10V_AH,9.8,4.100
$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,21.725,51.525,320.400,42.775,0.000,0.000,0.000,99.115,0.000,0.000,26.360,835.310,6418.591,484.845,488.439,216.180,33.354,903.310,0.000,442.178,0.000,0.000,0.000
$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,396.156,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324108
$DATA_FILE_SIZE,12735,485
$CAP_FILE_SIZE,70210,0
$CFSIZE,260165632,255770624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,8,105,0,0
$GPS,220110,065526,4757.387,-12611.733,12,1.1,12,18.0