version: 66.06
glider: 80
mission: 97
dive: 43
start: 1 22 110 11 51 33
data:
$ID,80
$MISSION,97
$DIVE,43
$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,-607510.31
$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,0
$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
$GPS1,114717,4756.389,-12615.053,21,1.1,21,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,115042,4756.389,-12615.053,21,1.1,21,18.0
$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,-0.006
$KALMAN_X,15136.3,-48.5,-41.6,-58851.0,896.7
$KALMAN_Y,-14841.5,349.5,61.5,-8930.5,-1368.6
$MHEAD_RNG_PITCHd_Wd,250.8,168751,-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,-45.38,0.000,2,0.000,0.000,841,1979,3191,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.8,-13.6,9,85,7.97,0.00,-7.88,0.000,6,0.004,0.000,2492,1980,3433,1,0,0,0,0,0
$GC,421,-0.99,-146.0,56.7,-11.7,73,426,0.38,0.00,0.00,0.000,6,0.003,0.000,2421,1980,3430,0,0,0,0,0,0
$GC,757,-0.99,-146.0,113.6,-16.4,116,759,0.40,0.00,0.00,0.000,6,0.004,0.000,2491,1978,3432,0,0,0,0,0,0
$GC,1077,-0.99,-146.0,147.1,-10.1,146,1079,0.38,0.00,0.00,0.000,6,0.004,0.000,2416,1981,3433,0,0,0,0,0,0
$GC,1385,-0.99,-146.0,194.7,-15.3,162,1388,0.38,0.00,0.00,0.000,6,0.004,0.000,2485,1980,3430,0,0,0,0,0,0
$GC,1695,-0.99,-146.0,226.1,-10.0,177,1697,0.25,0.00,0.00,0.000,6,0.005,0.000,2413,1979,3432,0,0,0,0,0,0
$GC,2004,-0.99,-146.0,271.9,-14.8,192,2006,0.43,0.00,0.00,0.000,6,0.004,0.000,2485,1981,3431,0,0,0,0,0,0
$GC,2354,-0.99,-146.0,306.1,-9.6,207,2356,0.43,0.00,0.00,0.000,6,0.004,0.000,2412,1981,3429,0,0,0,0,0,0
$GC,2656,-0.99,-146.0,349.6,-14.4,212,2658,0.28,0.00,0.00,0.000,6,0.004,0.000,2489,1981,3431,0,0,0,0,0,0
$GC,2960,-0.99,-146.0,377.8,-9.2,217,2962,0.38,0.00,0.00,0.000,6,0.003,0.000,2419,1980,3432,0,0,0,0,0,0
$GC,3263,-0.99,-146.0,419.0,-13.7,222,3265,0.32,0.00,0.00,0.000,6,0.003,0.000,2492,1980,3432,0,0,0,0,0,0
$GC,3567,-0.99,-146.0,446.0,-8.8,227,3569,0.43,0.00,0.00,0.000,6,0.003,0.000,2420,1979,3432,0,0,0,0,0,0
$GC,3869,-0.99,-146.0,485.8,-13.2,232,3871,0.35,0.00,0.00,0.000,6,0.004,0.000,2496,1979,3431,0,0,0,0,0,0
$STATE,4049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4049,begin apogee
$GC,4054,-0.23,0.0,501.4,9.5,235,4200,0.93,0.00,143.05,0.005,6,0.004,0.000,2669,1979,2838,2,0,0,0,0,0
$STATE,4201,end apogee,CONTROL_FINISHED_OK
$STATE,4201,begin climb
$GC,4203,0.99,146.0,507.1,0.0,237,4352,1.40,0.00,143.15,0.005,6,0.004,0.000,2927,1980,2242,1,0,0,0,0,0
$GC,4654,0.99,146.0,435.7,17.8,245,4656,0.20,0.00,0.00,0.000,6,0.004,0.000,2861,1981,2241,0,0,0,0,0,0
$GC,4957,0.99,146.0,398.7,12.1,250,4959,0.28,0.00,0.00,0.000,6,0.004,0.000,2935,1978,2242,0,0,0,0,0,0
$GC,5260,0.99,146.0,344.3,18.0,255,5263,0.43,0.00,0.00,0.000,6,0.003,0.000,2866,1978,2244,0,0,0,0,0,0
$GC,5564,0.99,146.0,306.9,12.2,260,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1977,2241,0,0,0,0,0,0
$GC,5872,0.99,146.0,269.6,12.0,273,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1980,2241,0,0,0,0,0,0
$GC,6181,0.99,146.0,232.7,11.9,288,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1979,2242,0,0,0,0,0,0
$GC,6490,0.99,146.0,196.4,11.8,303,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1982,2242,0,0,0,0,0,0
$GC,6800,0.99,146.0,161.0,11.3,318,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1981,2242,0,0,0,0,0,0
$GC,7115,0.99,146.0,126.3,10.8,343,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1979,2241,0,0,0,0,0,0
$GC,7435,0.99,146.0,93.2,9.9,373,7436,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1980,2241,0,0,0,0,0,0
$GC,7763,1.02,168.8,62.6,8.8,420,7789,0.25,0.00,20.35,0.005,6,0.004,0.000,2940,1980,2150,0,0,0,0,0,0
$GC,8127,1.02,168.8,16.2,12.5,485,8131,0.43,0.00,0.00,0.000,6,0.004,0.000,2871,1979,2148,0,0,0,0,0,0
$STATE,8287,end climb,SURFACE_DEPTH_REACHED
$STATE,8287,begin surface coast
$FINISH,-0.0,1.008360
$STATE,8310,end surface coast,CONTROL_FINISHED_OK
$STATE,8310,begin surface
$SM_CCo,8329,51.22,0.005,0,0,1818,250.21
$SM_GC,-0.00,0.00,0.00,51.22,0.000,0.000,0.005,816,1979,1818,-8.53,-0.11,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,22.23
$INTERNAL_PRESSURE,11.9536
$TCM_TEMP,15.00
$24V_AH,24.0,19.524
$10V_AH,9.8,4.176
$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,26.650,0.000,306.550,51.225,0.000,0.000,0.000,89.102,0.000,0.000,22.720,845.592,6639.203,442.760,465.947,196.342,33.351,828.739,0.000,417.887,0.000,0.000,0.000
$DEVICE_MAMPS,4.602,0.000,4.602,4.602,0.000,103.000,0.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,26.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,empty,nil
$SENSOR_SECS,424.666,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324152
$DATA_FILE_SIZE,15853,518
$CAP_FILE_SIZE,62756,0
$CFSIZE,260165632,255688704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$GPS,220110,141206,4755.940,-12616.716,25,1.1,26,18.0