version: 66.06
glider: 80
mission: 97
dive: 50
start: 1 23 110 4 38 47
data:
$ID,80
$MISSION,97
$DIVE,50
$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,-607683.94
$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,1
$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
$GPS1,043411,4753.090,-12626.554,29,1.1,29,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-70.0
$GPS2,043757,4753.090,-12626.554,31,1.1,31,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.258,-0.042
$KALMAN_X,19365.2,-110.4,-36.9,-77233.6,1119.6
$KALMAN_Y,-18649.4,221.1,69.1,-11107.9,-861.8
$MHEAD_RNG_PITCHd_Wd,242.8,153617,-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,-44.58,0.000,2,0.000,0.000,869,1987,3168,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.6,-12.5,9,85,8.12,0.00,-8.68,0.000,6,0.004,0.000,2496,1990,3437,2,0,0,0,0,0
$GC,422,-0.99,-146.0,54.8,-11.9,73,426,0.40,0.00,0.00,0.000,6,0.004,0.000,2426,1990,3440,0,0,0,0,0,0
$GC,753,-0.99,-146.0,110.1,-15.9,117,755,0.43,0.00,0.00,0.000,6,0.004,0.000,2501,1989,3438,0,0,0,0,0,0
$GC,1073,-0.99,-146.0,141.5,-9.8,147,1075,0.40,0.00,0.00,0.000,6,0.004,0.000,2422,1989,3437,0,0,0,0,0,0
$GC,1383,-0.99,-146.0,187.5,-14.8,165,1385,0.32,0.00,0.00,0.000,6,0.004,0.000,2498,1989,3438,0,0,0,0,0,0
$GC,1692,-0.99,-146.0,216.7,-9.3,180,1698,0.25,2.50,0.00,0.000,4,0.004,0.004,2427,507,3438,0,0,6,0,0,0
$GC,1713,-0.99,-146.0,219.3,-11.7,181,1719,0.45,3.10,0.00,0.000,6,0.003,0.004,2520,2077,3436,0,0,7,0,0,0
$GC,2034,-0.99,-146.0,245.0,-7.9,197,2039,0.32,2.65,0.00,0.000,4,0.004,0.004,2450,494,3438,0,0,5,0,0,0
$GC,2055,-0.99,-146.0,247.5,-11.4,198,2060,0.00,2.90,0.00,0.000,6,0.000,0.004,2449,1993,3436,0,0,5,0,0,0
$GC,2381,-0.99,-146.0,287.4,-12.2,214,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1996,3435,0,0,0,0,0,0
$GC,2687,-0.99,-146.0,324.3,-12.0,223,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1995,3437,0,0,0,0,0,0
$GC,2990,-0.99,-146.0,360.4,-11.9,228,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1994,3436,0,0,0,0,0,0
$GC,3293,-0.99,-146.0,396.1,-11.7,233,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1994,3437,0,0,0,0,0,0
$GC,3598,-0.99,-146.0,431.4,-11.6,238,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1994,3439,0,0,0,0,0,0
$GC,3899,-0.99,-146.0,466.3,-11.6,243,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1994,3437,0,0,0,0,0,0
$STATE,4201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4201,begin apogee
$GC,4205,-0.23,0.0,501.0,11.4,248,4355,1.30,0.00,144.93,0.005,6,0.004,0.000,2696,1994,2838,0,0,0,0,0,0
$STATE,4356,end apogee,CONTROL_FINISHED_OK
$STATE,4356,begin climb
$GC,4358,0.99,146.0,507.2,0.0,250,4506,0.95,0.00,143.55,0.005,6,0.004,0.000,2893,1994,2241,1,0,0,0,0,0
$GC,4781,0.99,146.0,451.9,14.9,257,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1993,2244,0,0,0,0,0,0
$GC,5084,0.99,146.0,407.1,14.7,262,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1994,2243,0,0,0,0,0,0
$GC,5388,0.99,146.0,362.9,14.6,267,5389,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1997,2243,0,0,0,0,0,0
$GC,5691,0.99,146.0,319.1,14.5,272,5692,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1994,2243,0,0,0,0,0,0
$GC,5996,0.99,146.0,275.5,14.1,281,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1995,2244,0,0,0,0,0,0
$GC,6305,0.99,146.0,232.0,14.1,296,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1997,2243,0,0,0,0,0,0
$GC,6615,0.99,146.0,189.4,13.7,311,6616,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1995,2241,0,0,0,0,0,0
$GC,6925,0.99,146.0,148.1,13.2,326,6929,0.00,2.22,0.00,0.000,4,0.000,0.004,2893,571,2243,0,0,3,0,0,0
$GC,6945,0.99,146.0,145.2,13.4,327,6951,0.00,3.15,0.00,0.000,6,0.000,0.004,2894,2164,2242,0,0,6,0,0,0
$GC,7270,0.99,146.0,104.6,12.1,358,7275,0.00,3.15,0.00,0.000,4,0.000,0.004,2892,323,2242,0,0,5,0,0,0
$GC,7308,0.99,146.0,100.0,12.0,361,7313,0.00,3.12,0.00,0.000,6,0.000,0.004,2895,2165,2241,0,0,6,0,0,0
$GC,7641,0.99,146.0,63.2,10.2,405,7646,0.00,3.10,0.00,0.000,4,0.000,0.004,2893,395,2243,0,0,6,0,0,0
$GC,7679,0.99,146.1,59.4,9.8,412,7684,0.00,3.12,0.00,0.000,6,0.000,0.004,2893,2095,2242,0,0,6,0,0,0
$GC,8022,1.05,193.5,29.6,7.7,473,8067,0.00,2.53,40.50,0.005,4,0.000,0.004,2893,458,2049,0,0,5,0,0,0
$GC,8089,1.05,193.5,22.7,11.9,486,8095,0.00,2.95,0.00,0.000,6,0.000,0.004,2893,1991,2048,0,0,6,0,0,0
$STATE,8267,end climb,SURFACE_DEPTH_REACHED
$STATE,8267,begin surface coast
$FINISH,0.2,1.008360
$STATE,8285,end surface coast,CONTROL_FINISHED_OK
$STATE,8285,begin surface
$SM_CCo,8303,35.67,0.005,0,0,1818,250.21
$SM_GC,0.00,0.00,0.00,35.67,0.000,0.000,0.005,818,1994,1818,-8.53,0.17,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,26.72
$INTERNAL_PRESSURE,12.1587
$TCM_TEMP,15.00
$24V_AH,24.0,21.295
$10V_AH,9.8,4.354
$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,23.300,34.500,328.975,35.675,0.000,0.000,0.000,96.581,0.000,0.000,32.455,865.546,6539.151,457.745,498.285,214.189,33.354,875.312,0.000,434.581,0.000,0.000,0.000
$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,418.393,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324080
$DATA_FILE_SIZE,15868,521
$CAP_FILE_SIZE,69493,0
$CFSIZE,260165632,255471616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,66,0,0
$GPS,230110,065847,4752.482,-12628.091,26,1.1,26,18.0