version: 66.06
glider: 80
mission: 97
dive: 44
start: 1 22 110 14 16 26
data:
$ID,80
$MISSION,97
$DIVE,44
$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,-607544.69
$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
$GPS1,141206,4755.940,-12616.716,25,1.1,26,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,141535,4755.940,-12616.716,31,1.1,31,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.260,-0.025
$KALMAN_X,15837.5,-128.8,-64.9,-61502.9,976.6
$KALMAN_Y,-15391.6,254.1,-34.4,-9019.1,-1107.1
$MHEAD_RNG_PITCHd_Wd,246.5,166588,-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,-44.33,0.000,2,0.000,0.000,817,1978,3167,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.6,-12.3,9,85,8.45,0.00,-8.90,0.000,6,0.004,0.000,2514,1981,3434,1,0,0,0,0,0
$GC,421,-0.99,-146.0,50.5,-10.6,73,426,0.45,0.00,0.00,0.000,6,0.003,0.000,2444,1979,3436,0,0,0,0,0,0
$GC,760,-0.99,-146.0,102.7,-14.8,121,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1980,3435,0,0,0,0,0,0
$GC,1080,-0.99,-146.0,147.5,-13.8,151,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1981,3434,0,0,0,0,0,0
$GC,1389,-0.99,-146.0,188.7,-13.2,167,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1978,3433,0,0,0,0,0,0
$GC,1698,-0.99,-146.0,228.7,-12.9,182,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1980,3435,0,0,0,0,0,0
$GC,2007,-0.99,-146.0,267.8,-12.5,197,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1981,3436,0,0,0,0,0,0
$GC,2336,-0.99,-146.0,308.7,-12.4,211,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1981,3434,0,0,0,0,0,0
$GC,2639,-0.99,-146.0,345.8,-12.2,216,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1981,3436,0,0,0,0,0,0
$GC,2942,-0.99,-146.0,382.5,-12.1,221,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1980,3435,0,0,0,0,0,0
$GC,3245,-0.99,-146.0,418.8,-11.9,226,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1980,3433,0,0,0,0,0,0
$GC,3548,-0.99,-146.0,454.6,-11.8,231,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1980,3436,0,0,0,0,0,0
$GC,3851,-0.99,-146.0,490.1,-11.7,236,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1978,3435,0,0,0,0,0,0
$STATE,3971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3971,begin apogee
$GC,3976,-0.23,0.0,504.2,11.7,238,4122,0.77,0.00,143.52,0.005,6,0.004,0.000,2613,1980,2838,0,0,0,0,0,0
$STATE,4123,end apogee,CONTROL_FINISHED_OK
$STATE,4123,begin climb
$GC,4125,0.99,146.0,508.0,0.0,240,4274,1.77,0.00,143.65,0.005,6,0.003,0.000,2960,1980,2243,0,0,0,0,0,0
$GC,4576,0.99,146.0,425.7,20.6,248,4578,0.25,0.00,0.00,0.000,6,0.004,0.000,2886,1981,2244,0,0,0,0,0,0
$GC,4879,0.99,146.0,382.3,14.1,253,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1978,2243,0,0,0,0,0,0
$GC,5182,0.99,146.0,339.8,14.0,258,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1980,2243,0,0,0,0,0,0
$GC,5485,0.99,146.0,297.8,13.8,263,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1979,2244,0,0,0,0,0,0
$GC,5795,0.99,146.0,255.5,13.6,278,5796,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1979,2245,0,0,0,0,0,0
$GC,6104,0.99,146.0,213.9,13.4,293,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1981,2243,0,0,0,0,0,0
$GC,6414,0.99,146.0,173.4,12.9,308,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1980,2242,0,0,0,0,0,0
$GC,6726,0.99,146.0,133.7,12.2,329,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1976,2243,0,0,0,0,0,0
$GC,7047,0.99,146.0,95.9,11.5,359,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1980,2245,0,0,0,0,0,0
$GC,7374,0.99,146.0,61.3,9.8,405,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1980,2244,0,0,0,0,0,0
$GC,7716,1.05,196.6,32.2,7.5,466,7761,0.00,0.00,42.80,0.005,6,0.000,0.000,2887,1977,2036,0,0,0,0,0,0
$STATE,7989,end climb,SURFACE_DEPTH_REACHED
$STATE,7989,begin surface coast
$FINISH,0.3,1.008360
$STATE,8008,end surface coast,CONTROL_FINISHED_OK
$STATE,8008,begin surface
$SM_CCo,8027,33.83,0.005,0,0,1817,250.21
$SM_GC,-0.00,0.00,0.00,33.83,0.000,0.000,0.005,850,1980,1817,-8.39,-0.23,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.021476
$HUMID,23.14
$INTERNAL_PRESSURE,11.9731
$TCM_TEMP,15.00
$24V_AH,24.0,19.778
$10V_AH,9.8,4.201
$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,21.850,0.025,329.975,33.825,0.000,0.000,0.000,85.862,0.000,0.000,33.768,825.869,6345.686,436.203,474.626,191.306,33.357,818.432,0.000,412.130,0.000,0.000,0.000
$DEVICE_MAMPS,3.835,4.602,4.602,4.602,0.000,103.000,0.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,26.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,empty,nil
$SENSOR_SECS,420.045,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324112
$DATA_FILE_SIZE,15848,519
$CAP_FILE_SIZE,59139,0
$CFSIZE,260165632,255664128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,220110,163132,4755.505,-12618.354,17,1.1,17,18.0