version: 66.06
glider: 80
mission: 97
dive: 52
start: 1 23 110 9 16 6
data:
$ID,80
$MISSION,97
$DIVE,52
$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,-607709.62
$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
$GPS1,091159,4751.984,-12629.584,23,1.1,23,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,091515,4751.984,-12629.584,13,1.1,13,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.262,0.004
$KALMAN_X,20802.5,-20.3,-48.0,-82494.0,1196.5
$KALMAN_Y,-20070.6,245.9,73.7,-11765.5,-1305.8
$MHEAD_RNG_PITCHd_Wd,252.8,149368,-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,15,-0.99,-146.0,0.0,0.0,0,62,0.00,0.00,-44.97,0.000,2,0.000,0.000,873,2128,3177,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.3,-11.1,9,90,7.72,3.00,-8.30,0.000,4,0.004,0.004,2488,352,3430,2,0,7,0,0,0
$GC,145,-0.99,-146.0,21.4,-12.9,24,152,0.45,3.60,0.00,0.000,6,0.004,0.004,2390,2244,3429,0,0,8,0,0,0
$GC,485,-0.99,-146.0,93.6,-20.0,79,491,0.22,3.55,0.00,0.000,4,0.004,0.004,2457,322,3430,0,0,8,0,0,0
$GC,540,-0.99,-146.0,101.7,-13.1,83,547,0.00,2.65,0.00,0.000,6,0.000,0.003,2458,2012,3429,0,0,5,0,0,0
$GC,866,-0.99,-146.0,143.7,-12.7,114,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2012,3430,0,0,0,0,0,0
$GC,1186,-0.99,-146.0,183.2,-12.2,132,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2012,3432,0,0,0,0,0,0
$GC,1496,-0.99,-146.0,220.1,-11.8,147,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2011,3430,0,0,0,0,0,0
$GC,1805,-0.99,-146.0,256.3,-11.6,162,1810,0.00,2.70,0.00,0.000,4,0.000,0.004,2458,443,3428,0,0,7,0,0,0
$GC,1825,-0.99,-146.0,258.7,-11.9,163,1830,0.00,2.58,0.00,0.000,6,0.000,0.003,2457,2014,3430,0,0,5,0,0,0
$GC,2152,-0.99,-146.0,296.1,-11.5,179,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2016,3432,0,0,0,0,0,0
$GC,2496,-0.99,-146.0,335.1,-11.3,186,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2017,3431,0,0,0,0,0,0
$GC,2799,-0.99,-146.0,369.0,-11.2,191,2804,0.00,2.92,0.00,0.000,4,0.000,0.004,2457,537,3431,0,0,7,0,0,0
$GC,2825,-0.99,-146.0,372.0,-11.5,191,2830,0.00,2.17,0.00,0.000,6,0.000,0.003,2457,1995,3431,0,0,4,0,0,0
$GC,3163,-0.99,-146.0,409.1,-11.0,197,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1993,3430,0,0,0,0,0,0
$GC,3466,-0.99,-146.0,442.2,-10.9,202,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1993,3431,0,0,0,0,0,0
$GC,3769,-0.99,-146.0,475.0,-10.8,207,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1993,3430,0,0,0,0,0,0
$STATE,4009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4010,begin apogee
$GC,4014,-0.23,0.0,501.1,10.8,211,4162,0.88,0.00,143.57,0.005,6,0.004,0.000,2631,1993,2837,0,0,0,0,0,0
$STATE,4163,end apogee,CONTROL_FINISHED_OK
$STATE,4163,begin climb
$GC,4165,0.99,146.0,504.3,0.0,213,4313,1.35,0.00,144.05,0.005,6,0.004,0.000,2901,1992,2240,0,0,0,0,0,0
$GC,4615,0.99,146.0,441.4,15.6,221,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1995,2241,0,0,0,0,0,0
$GC,4918,0.99,146.0,394.4,15.5,226,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1992,2241,0,0,0,0,0,0
$GC,5221,0.99,146.0,348.0,15.3,231,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1995,2239,0,0,0,0,0,0
$GC,5524,0.99,146.0,302.0,15.1,236,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1995,2241,0,0,0,0,0,0
$GC,5832,0.99,146.0,256.0,14.8,249,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1995,2240,0,0,0,0,0,0
$GC,6141,0.99,146.0,210.6,14.6,264,6146,0.00,2.53,0.00,0.000,4,0.000,0.004,2902,498,2240,0,0,4,0,0,0
$GC,6162,0.99,146.0,207.5,14.4,265,6166,0.00,2.20,0.00,0.000,6,0.000,0.003,2902,1986,2241,0,0,4,0,0,0
$GC,6488,0.99,146.0,161.1,14.1,281,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1987,2239,0,0,0,0,0,0
$GC,6805,0.99,146.0,118.3,13.3,307,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1985,2239,0,0,0,0,0,0
$GC,7125,0.99,146.0,78.6,11.9,338,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1985,2240,0,0,0,0,0,0
$GC,7467,1.01,160.5,42.8,9.2,399,7482,0.00,0.00,13.25,0.005,6,0.000,0.000,2902,1988,2183,0,0,0,0,0,0
$GC,7819,1.02,167.5,9.1,9.5,462,7829,0.00,0.00,6.53,0.005,6,0.000,0.000,2902,1986,2156,0,0,0,0,0,0
$STATE,7889,end climb,SURFACE_DEPTH_REACHED
$STATE,7889,begin surface coast
$FINISH,0.0,1.008360
$STATE,7907,end surface coast,CONTROL_FINISHED_OK
$STATE,7907,begin surface
$SM_CCo,7926,51.45,0.005,0,0,1817,250.45
$SM_GC,-0.00,0.00,0.00,51.45,0.000,0.000,0.005,828,1985,1817,-8.48,0.00,250.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,28.89
$INTERNAL_PRESSURE,12.227
$TCM_TEMP,15.00
$24V_AH,24.0,21.784
$10V_AH,9.8,4.402
$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,21.150,27.900,307.400,51.450,0.000,0.000,0.000,87.098,0.000,0.000,13.544,805.105,6284.223,461.429,439.946,194.755,33.349,843.410,0.000,402.765,0.000,0.000,0.000
$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,385.353,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324116
$DATA_FILE_SIZE,12706,478
$CAP_FILE_SIZE,63262,0
$CFSIZE,260165632,255414272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,59,0,0
$GPS,230110,112953,4751.570,-12631.175,13,1.1,13,18.0