version: 66.06
glider: 80
mission: 97
dive: 49
start: 1 23 110 2 22 29
data:
$ID,80
$MISSION,97
$DIVE,49
$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,-607650.88
$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,3
$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
$GPS1,021806,4753.663,-12625.113,7,1.1,7,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,022138,4753.663,-12625.113,16,1.1,17,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.254,-0.064
$KALMAN_X,18654.8,-158.1,-74.7,-74655.9,981.6
$KALMAN_Y,-18051.2,106.5,-23.3,-10438.0,-703.6
$MHEAD_RNG_PITCHd_Wd,237.8,155694,-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,-146.0,0.0,0.0,0,63,0.00,0.00,-45.22,0.000,2,0.000,0.000,827,1764,3189,0,0,0,0,0,0
$GC,65,-0.99,-146.0,4.1,-14.9,9,91,8.30,2.72,-7.97,0.000,4,0.004,0.004,2529,3436,3435,2,0,10,0,0,0
$GC,209,-0.99,-146.0,26.8,-9.8,35,215,0.43,3.15,0.00,0.000,6,0.003,0.004,2439,1815,3436,0,0,5,0,0,0
$GC,550,-0.99,-146.0,83.7,-15.7,94,555,0.00,2.58,0.00,0.000,4,0.000,0.004,2438,3432,3435,0,0,4,0,0,0
$GC,589,-0.99,-146.0,89.7,-15.8,97,594,0.00,3.38,0.00,0.000,6,0.000,0.004,2439,1906,3435,0,0,9,0,0,0
$GC,913,-0.99,-146.0,137.5,-14.3,127,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1905,3437,0,0,0,0,0,0
$GC,1236,-0.99,-146.0,182.1,-13.6,147,1240,0.00,2.67,0.00,0.000,4,0.000,0.004,2438,3536,3438,0,0,4,0,0,0
$GC,1267,-0.99,-146.0,186.6,-13.7,148,1273,0.00,2.55,0.00,0.000,6,0.000,0.003,2438,1959,3434,0,0,4,0,0,0
$GC,1582,-0.99,-146.0,228.5,-13.1,164,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,1958,3435,0,0,0,0,0,0
$GC,1892,-0.99,-146.0,268.8,-13.0,179,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,1957,3435,0,0,0,0,0,0
$GC,2200,-0.99,-146.0,308.3,-12.8,192,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1958,3434,0,0,0,0,0,0
$GC,2503,-0.99,-146.0,346.6,-12.6,197,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1959,3436,0,0,0,0,0,0
$GC,2806,-0.99,-146.0,384.4,-12.5,202,2810,0.00,2.55,0.00,0.000,4,0.000,0.004,2439,3517,3434,0,0,6,0,0,0
$GC,2826,-0.99,-146.0,387.0,-12.1,202,2831,0.00,3.22,0.00,0.000,6,0.000,0.004,2437,1797,3435,0,0,8,0,0,0
$GC,3163,-0.99,-146.0,428.4,-12.3,208,3168,0.00,2.72,0.00,0.000,4,0.000,0.004,2438,3513,3435,0,0,5,0,0,0
$GC,3206,-0.99,-146.0,433.8,-12.0,208,3211,0.00,2.80,0.00,0.000,6,0.000,0.004,2438,1933,3435,0,0,5,0,0,0
$GC,3521,-0.99,-146.0,471.9,-12.2,214,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,1932,3434,0,0,0,0,0,0
$STATE,3761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3762,begin apogee
$GC,3767,-0.23,0.0,501.1,12.0,218,3915,1.27,0.00,143.65,0.005,6,0.004,0.000,2698,2119,2836,0,0,0,0,0,0
$STATE,3916,end apogee,CONTROL_FINISHED_OK
$STATE,3916,begin climb
$GC,3918,0.99,146.0,507.3,0.0,220,4069,0.80,2.58,142.68,0.005,4,0.004,0.004,2899,568,2243,0,0,5,0,0,0
$GC,4106,0.99,146.0,486.1,15.7,223,4112,0.00,3.12,0.00,0.000,6,0.000,0.003,2899,2177,2241,0,0,6,0,0,0
$GC,4460,0.99,146.0,432.3,15.2,229,4465,0.00,2.97,0.00,0.000,4,0.000,0.004,2898,479,2242,0,0,7,0,0,0
$GC,4509,0.99,146.0,424.9,15.1,229,4514,0.00,3.17,0.00,0.000,6,0.000,0.004,2898,2048,2242,0,0,7,0,0,0
$GC,4818,0.99,146.0,378.5,15.0,234,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2048,2241,0,0,0,0,0,0
$GC,5121,0.99,146.0,333.4,14.9,239,5126,0.00,3.40,0.00,0.000,4,0.000,0.004,2898,328,2240,0,0,7,0,0,0
$GC,5147,0.99,146.0,329.3,14.9,239,5153,0.00,3.35,0.00,0.000,6,0.000,0.003,2897,1989,2242,0,0,7,0,0,0
$GC,5461,0.99,146.0,283.5,14.6,248,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1990,2241,0,0,0,0,0,0
$GC,5770,0.99,146.0,238.8,14.4,263,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1987,2241,0,0,0,0,0,0
$GC,6079,0.99,146.0,194.9,14.0,278,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1989,2243,0,0,0,0,0,0
$GC,6389,0.99,146.0,152.4,13.7,293,6390,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1990,2240,0,0,0,0,0,0
$GC,6708,0.99,146.0,111.0,12.6,322,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1989,2241,0,0,0,0,0,0
$GC,7030,0.99,146.0,72.8,11.2,357,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1988,2242,0,0,0,0,0,0
$GC,7372,1.02,168.3,39.3,8.8,418,7397,0.00,0.00,19.92,0.005,6,0.000,0.000,2898,1987,2152,0,0,0,0,0,0
$GC,7734,1.02,168.3,3.5,10.8,483,7738,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1989,2151,0,0,0,0,0,0
$STATE,7748,end climb,SURFACE_DEPTH_REACHED
$STATE,7748,begin surface coast
$FINISH,0.2,1.008360
$STATE,7766,end surface coast,CONTROL_FINISHED_OK
$STATE,7766,begin surface
$SM_CCo,7785,51.67,0.005,0,0,1816,250.45
$SM_GC,0.00,0.00,0.00,51.67,0.000,0.000,0.005,870,1988,1816,-8.29,0.06,250.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,25.27
$INTERNAL_PRESSURE,12.1391
$TCM_TEMP,15.00
$24V_AH,24.0,21.055
$10V_AH,9.8,4.327
$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,20.975,47.350,306.250,51.675,0.000,0.000,0.000,98.216,0.000,0.000,18.031,837.204,6044.755,455.421,505.021,217.145,33.358,894.951,0.000,455.087,0.000,0.000,0.000
$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,392.335,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324120
$DATA_FILE_SIZE,12714,489
$CAP_FILE_SIZE,71111,0
$CFSIZE,260165632,255500288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,100,0,0
$GPS,230110,043411,4753.090,-12626.554,29,1.1,29,18.0