version: 66.06
glider: 80
mission: 97
dive: 46
start: 1 22 110 19 2 16
data:
$ID,80
$MISSION,97
$DIVE,46
$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,-607583.12
$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,3
$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
$GPS1,185811,4755.059,-12620.064,32,1.1,32,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,190125,4755.059,-12620.064,16,1.1,16,18.0
$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,-0.017
$KALMAN_X,17089.1,-225.2,-84.9,-66773.6,1036.3
$KALMAN_Y,-16538.0,45.2,216.4,-9546.4,-1173.7
$MHEAD_RNG_PITCHd_Wd,248.4,162266,-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,-44.55,0.000,2,0.000,0.000,856,1980,3153,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.3,-11.4,9,85,7.80,0.00,-9.50,0.000,6,0.004,0.000,2487,1979,3444,1,0,0,0,0,0
$GC,421,-0.99,-146.0,57.3,-12.5,73,426,0.38,0.00,0.00,0.000,6,0.004,0.000,2409,1979,3444,0,0,0,0,0,0
$GC,756,-0.99,-146.0,118.7,-17.3,115,758,0.35,0.00,0.00,0.000,6,0.004,0.000,2473,1979,3443,0,0,0,0,0,0
$GC,1085,-0.99,-146.0,157.2,-11.3,143,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1981,3446,0,0,0,0,0,0
$GC,1393,-0.99,-146.0,191.8,-11.1,158,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1979,3443,0,0,0,0,0,0
$GC,1702,-0.99,-146.0,225.7,-10.8,173,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1979,3443,0,0,0,0,0,0
$GC,2012,-0.99,-146.0,258.9,-10.7,188,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1981,3443,0,0,0,0,0,0
$GC,2321,-0.99,-146.0,291.7,-10.5,203,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1979,3444,0,0,0,0,0,0
$GC,2646,-0.99,-146.0,325.7,-10.4,211,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1979,3445,0,0,0,0,0,0
$GC,2949,-0.99,-146.0,357.1,-10.3,216,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1978,3443,0,0,0,0,0,0
$GC,3252,-0.99,-146.0,388.1,-10.2,221,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1980,3444,0,0,0,0,0,0
$GC,3555,-0.99,-146.0,418.8,-10.1,226,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1979,3444,0,0,0,0,0,0
$GC,3858,-0.99,-146.0,449.3,-10.0,231,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1979,3444,0,0,0,0,0,0
$GC,4162,-0.99,-146.0,479.6,-10.0,236,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1981,3442,0,0,0,0,0,0
$STATE,4402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4402,begin apogee
$GC,4407,-0.23,0.0,503.6,9.9,240,4557,0.85,0.00,146.23,0.005,6,0.004,0.000,2628,1980,2839,0,0,0,0,0,0
$STATE,4558,end apogee,CONTROL_FINISHED_OK
$STATE,4558,begin climb
$GC,4560,0.99,146.0,507.1,0.0,242,4709,1.20,0.00,144.07,0.005,6,0.004,0.000,2899,1978,2241,0,0,0,0,0,0
$GC,5007,0.99,146.0,446.1,15.3,250,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1981,2241,0,0,0,0,0,0
$GC,5310,0.99,146.0,400.1,15.1,255,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1978,2241,0,0,0,0,0,0
$GC,5615,0.99,146.0,354.6,15.0,260,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1979,2243,0,0,0,0,0,0
$GC,5916,0.99,146.0,309.6,14.8,265,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1980,2242,0,0,0,0,0,0
$GC,6224,0.99,146.0,264.7,14.5,276,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1979,2244,0,0,0,0,0,0
$GC,6533,0.99,146.0,220.2,14.3,291,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1981,2241,0,0,0,0,0,0
$GC,6842,0.99,146.0,176.8,13.9,306,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1981,2243,0,0,0,0,0,0
$GC,7154,0.99,146.0,134.5,13.3,326,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1980,2241,0,0,0,0,0,0
$GC,7474,0.99,146.0,94.2,12.0,356,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1981,2241,0,0,0,0,0,0
$GC,7803,0.99,146.0,57.6,10.3,404,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1979,2242,0,0,0,0,0,0
$GC,8146,1.03,181.6,27.5,8.2,465,8181,0.00,0.00,30.85,0.005,6,0.000,0.000,2899,1980,2095,0,0,0,0,0,0
$STATE,8380,end climb,SURFACE_DEPTH_REACHED
$STATE,8380,begin surface coast
$FINISH,0.1,1.008360
$STATE,8399,end surface coast,CONTROL_FINISHED_OK
$STATE,8399,begin surface
$SM_CCo,8417,43.12,0.005,0,0,1814,250.21
$SM_GC,0.00,0.00,0.00,43.12,0.000,0.000,0.005,815,1980,1814,-8.54,-0.14,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,25.07
$INTERNAL_PRESSURE,12.0219
$TCM_TEMP,15.00
$24V_AH,24.0,20.281
$10V_AH,9.8,4.251
$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,21.150,0.000,321.150,43.125,0.000,0.000,0.000,86.223,0.000,0.000,17.982,820.309,6755.875,441.303,450.039,191.967,33.353,820.346,0.000,404.892,0.000,0.000,0.000
$DEVICE_MAMPS,3.835,0.000,4.602,4.602,0.000,103.000,0.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,26.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,empty,nil
$SENSOR_SECS,412.072,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324128
$DATA_FILE_SIZE,12766,511
$CAP_FILE_SIZE,59332,0
$CFSIZE,260165632,255606784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,220110,212353,4754.624,-12621.769,8,1.1,8,18.0