version: 66.06
glider: 80
mission: 97
dive: 53
start: 1 23 110 11 34 23
data:
$ID,80
$MISSION,97
$DIVE,53
$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,-607742.44
$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
$GPS1,112953,4751.570,-12631.175,13,1.1,13,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,113333,4751.570,-12631.175,31,1.1,31,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.262,-0.004
$KALMAN_X,21511.3,1.5,-104.6,-85131.7,1202.0
$KALMAN_Y,-20713.2,161.3,24.8,-11757.3,-1239.1
$MHEAD_RNG_PITCHd_Wd,251.2,147338,-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,-44.92,0.000,2,0.000,0.000,827,1985,3180,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.6,-12.1,9,84,7.88,0.00,-8.07,0.000,6,0.004,0.000,2454,1984,3434,0,0,0,0,0,0
$GC,421,-0.99,-146.0,67.2,-15.3,73,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1986,3434,0,0,0,0,0,0
$GC,754,-0.99,-146.0,114.0,-13.5,112,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1985,3433,0,0,0,0,0,0
$GC,1071,-0.99,-146.0,155.5,-12.7,140,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1987,3433,0,0,0,0,0,0
$GC,1381,-0.99,-146.0,194.1,-12.3,155,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1985,3433,0,0,0,0,0,0
$GC,1690,-0.99,-146.0,231.7,-12.0,170,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1985,3433,0,0,0,0,0,0
$GC,1999,-0.99,-146.0,268.5,-11.8,185,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1987,3433,0,0,0,0,0,0
$GC,2328,-0.99,-146.0,307.1,-11.7,199,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1987,3433,0,0,0,0,0,0
$GC,2631,-0.99,-146.0,342.2,-11.6,204,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1985,3434,0,0,0,0,0,0
$GC,2934,-0.99,-146.0,376.9,-11.4,209,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1987,3435,0,0,0,0,0,0
$GC,3238,-0.99,-146.0,411.2,-11.3,214,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1985,3435,0,0,0,0,0,0
$GC,3540,-0.99,-146.0,445.1,-11.2,219,3545,0.00,2.70,0.00,0.000,4,0.000,0.004,2454,437,3431,0,0,4,0,0,0
$GC,3560,-0.99,-146.0,447.5,-11.0,219,3566,0.00,3.12,0.00,0.000,6,0.000,0.004,2453,2040,3433,0,0,7,0,0,0
$GC,3898,-0.99,-146.0,484.8,-11.1,225,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2040,3434,0,0,0,0,0,0
$STATE,4078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4078,begin apogee
$GC,4083,-0.23,0.0,504.8,11.0,228,4229,0.90,0.00,142.70,0.005,6,0.004,0.000,2624,1845,2840,0,0,0,0,0,0
$STATE,4230,end apogee,CONTROL_FINISHED_OK
$STATE,4230,begin climb
$GC,4232,0.99,146.0,508.3,0.0,230,4381,1.25,0.00,144.77,0.005,6,0.004,0.000,2882,1847,2242,0,0,0,0,0,0
$GC,4683,0.99,146.0,452.0,14.0,238,4688,0.00,2.75,0.00,0.000,4,0.000,0.004,2882,3426,2244,0,0,6,0,0,0
$GC,4731,0.99,146.0,445.1,13.7,238,4736,0.00,2.45,0.00,0.000,6,0.000,0.003,2882,1932,2242,0,0,5,0,0,0
$GC,5046,0.99,146.0,401.7,13.9,244,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1932,2242,0,0,0,0,0,0
$GC,5349,0.99,146.0,360.2,13.7,249,5354,0.00,2.58,0.00,0.000,4,0.000,0.004,2883,3475,2243,0,0,5,0,0,0
$GC,5370,0.99,146.0,357.3,13.4,249,5374,0.00,2.47,0.00,0.000,6,0.000,0.003,2883,1931,2243,0,0,5,0,0,0
$GC,5713,0.99,146.0,311.0,13.5,255,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1931,2242,0,0,0,0,0,0
$GC,6020,0.99,146.0,270.0,13.4,266,6024,0.00,2.58,0.00,0.000,4,0.000,0.004,2882,3556,2242,0,0,5,0,0,0
$GC,6040,0.99,146.0,267.1,13.2,267,6044,0.00,2.42,0.00,0.000,6,0.000,0.003,2881,1971,2242,0,0,4,0,0,0
$GC,6367,0.99,146.0,224.3,13.1,283,6368,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1971,2242,0,0,0,0,0,0
$GC,6676,0.99,146.0,184.5,12.7,298,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1972,2242,0,0,0,0,0,0
$GC,6986,0.99,146.0,145.6,12.3,314,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1971,2243,0,0,0,0,0,0
$GC,7305,0.99,146.0,108.0,11.6,344,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1970,2242,0,0,0,0,0,0
$GC,7627,0.99,146.0,73.0,10.4,380,7631,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1973,2242,0,0,0,0,0,0
$GC,7969,1.04,185.0,41.9,8.1,441,8008,0.00,0.00,34.10,0.005,6,0.000,0.000,2882,1970,2082,0,0,0,0,0,0
$GC,8347,1.04,185.0,3.7,11.0,509,8350,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1970,2081,0,0,0,0,0,0
$STATE,8361,end climb,SURFACE_DEPTH_REACHED
$STATE,8361,begin surface coast
$FINISH,0.2,1.008360
$STATE,8379,end surface coast,CONTROL_FINISHED_OK
$STATE,8379,begin surface
$SM_CCo,8398,40.90,0.005,0,0,1819,250.21
$SM_GC,0.00,0.00,0.00,40.90,0.000,0.000,0.005,830,2145,1819,-8.46,4.49,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,31.68
$INTERNAL_PRESSURE,12.2466
$TCM_TEMP,15.00
$24V_AH,24.0,22.027
$10V_AH,9.8,4.428
$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,20.325,21.800,321.575,40.900,0.000,0.000,0.000,92.426,0.000,0.000,32.168,857.273,6658.437,457.244,492.380,204.791,33.353,869.003,0.000,432.994,0.000,0.000,0.000
$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,412.719,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324120
$DATA_FILE_SIZE,15846,515
$CAP_FILE_SIZE,65594,0
$CFSIZE,260165632,255381504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,44,0,0
$GPS,230110,135548,4751.050,-12632.819,10,1.1,10,18.0