version: 66.06
glider: 80
mission: 97
dive: 55
start: 1 23 110 16 23 8
data:
$ID,80
$MISSION,97
$DIVE,55
$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,-607790.94
$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,1
$R_STBD_OVSHOOT,0
$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
$GPS1,161844,4750.631,-12634.462,34,1.1,34,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,162218,4750.631,-12634.462,28,1.1,28,18.0
$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,-0.014
$KALMAN_X,22873.0,-131.7,-118.6,-90407.9,1146.3
$KALMAN_Y,-22204.0,-2.9,115.5,-11932.4,-1199.7
$MHEAD_RNG_PITCHd_Wd,248.9,143056,-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,-45.28,0.000,2,0.000,0.000,862,1905,3193,0,0,0,0,0,0
$GC,65,-0.99,-146.0,3.9,-13.9,9,91,8.20,2.78,-7.80,0.000,4,0.004,0.004,2450,3487,3433,4,0,7,0,0,0
$GC,114,-0.99,-146.0,18.6,-17.1,18,119,0.00,2.80,0.00,0.000,6,0.000,0.004,2451,1782,3434,0,0,6,0,0,0
$GC,456,-0.99,-146.0,73.9,-15.4,79,461,0.00,3.35,0.00,0.000,4,0.000,0.004,2450,3497,3434,0,0,6,0,0,0
$GC,500,-0.99,-146.0,80.4,-14.8,87,504,0.00,2.67,0.00,0.000,6,0.000,0.004,2451,1885,3436,0,0,5,0,0,0
$GC,824,-0.99,-146.0,125.8,-13.7,117,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1882,3435,0,0,0,0,0,0
$GC,1140,-0.99,-146.0,167.1,-12.8,141,1145,0.00,3.15,0.00,0.000,4,0.000,0.004,2450,3591,3435,0,0,8,0,0,0
$GC,1178,-0.99,-146.0,172.2,-12.6,143,1184,0.00,3.15,0.00,0.000,6,0.000,0.004,2452,1856,3435,0,0,9,0,0,0
$GC,1504,-0.99,-146.0,213.1,-12.4,159,1509,0.00,3.30,0.00,0.000,4,0.000,0.004,2450,3625,3437,0,0,7,0,0,0
$GC,1530,-0.99,-146.0,216.5,-12.4,160,1535,0.00,3.00,0.00,0.000,6,0.000,0.003,2451,1907,3433,0,0,5,0,0,0
$GC,1846,-0.99,-146.0,255.0,-12.1,175,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1909,3435,0,0,0,0,0,0
$GC,2155,-0.99,-146.0,292.2,-12.0,190,2160,0.00,3.35,0.00,0.000,4,0.000,0.004,2452,3600,3435,0,0,6,0,0,0
$GC,2181,-0.99,-146.0,295.5,-12.2,191,2185,0.00,2.42,0.00,0.000,6,0.000,0.003,2452,1960,3436,0,0,6,0,0,0
$GC,2537,-0.99,-146.0,337.6,-11.8,199,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1958,3436,0,0,0,0,0,0
$GC,2840,-0.99,-146.0,373.0,-11.7,204,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1958,3435,0,0,0,0,0,0
$GC,3143,-0.99,-146.0,408.1,-11.6,209,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1960,3436,0,0,0,0,0,0
$GC,3446,-0.99,-146.0,442.8,-11.4,214,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1959,3435,0,0,0,0,0,0
$GC,3749,-0.99,-146.0,477.2,-11.3,219,3754,0.00,2.42,0.00,0.000,4,0.000,0.004,2450,3497,3434,0,0,5,0,0,0
$GC,3770,-0.99,-146.0,479.6,-11.6,219,3774,0.00,2.45,0.00,0.000,6,0.000,0.003,2451,1976,3435,0,0,4,0,0,0
$STATE,3990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3990,begin apogee
$GC,3995,-0.23,0.0,504.4,11.3,223,4143,0.75,0.00,144.45,0.005,6,0.004,0.000,2615,2174,2838,0,0,0,0,0,0
$STATE,4144,end apogee,CONTROL_FINISHED_OK
$STATE,4144,begin climb
$GC,4146,0.99,146.0,508.2,0.0,225,4294,1.15,0.00,141.73,0.005,6,0.004,0.000,2886,2175,2243,0,0,0,0,0,0
$GC,4570,0.99,146.0,455.0,14.2,232,4575,0.00,2.67,0.00,0.000,4,0.000,0.004,2884,558,2242,0,0,5,0,0,0
$GC,4607,0.99,146.0,449.5,14.2,232,4611,0.00,2.17,0.00,0.000,6,0.000,0.003,2885,1978,2241,0,0,5,0,0,0
$GC,4933,0.99,146.0,403.9,14.0,238,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1978,2241,0,0,0,0,0,0
$GC,5236,0.99,146.0,361.7,13.9,243,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1980,2240,0,0,0,0,0,0
$GC,5539,0.99,146.0,320.1,13.7,248,5540,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1978,2240,0,0,0,0,0,0
$GC,5845,0.99,146.0,278.4,13.6,257,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1977,2242,0,0,0,0,0,0
$GC,6154,0.99,146.0,237.0,13.3,272,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1977,2241,0,0,0,0,0,0
$GC,6464,0.99,146.0,196.3,13.0,287,6465,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1979,2243,0,0,0,0,0,0
$GC,6773,0.99,146.0,156.6,12.7,302,6774,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1977,2242,0,0,0,0,0,0
$GC,7090,0.99,146.0,117.9,11.8,329,7091,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1977,2241,0,0,0,0,0,0
$GC,7410,0.99,146.0,81.8,10.8,359,7411,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1978,2241,0,0,0,0,0,0
$GC,7745,1.01,161.1,48.8,9.1,417,7764,0.00,0.00,14.45,0.005,6,0.000,0.000,2887,1980,2180,0,0,0,0,0,0
$GC,8101,1.03,182.0,17.1,8.9,481,8125,0.00,0.00,19.33,0.005,6,0.000,0.000,2886,1979,2095,0,0,0,0,0,0
$STATE,8248,end climb,SURFACE_DEPTH_REACHED
$STATE,8248,begin surface coast
$FINISH,0.5,1.008360
$STATE,8264,end surface coast,CONTROL_FINISHED_OK
$STATE,8264,begin surface
$SM_CCo,8284,43.05,0.005,0,0,1815,250.21
$SM_GC,0.00,0.00,0.00,43.05,0.000,0.000,0.005,817,1979,1815,-8.53,-0.23,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,32.87
$INTERNAL_PRESSURE,12.3149
$TCM_TEMP,15.00
$24V_AH,24.0,22.535
$10V_AH,9.8,4.479
$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,20.500,40.125,319.950,43.050,0.000,0.000,0.000,90.020,0.000,0.000,28.126,863.063,6517.962,456.121,510.061,205.231,33.357,892.453,0.000,453.051,0.000,0.000,0.000
$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,411.519,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324136
$DATA_FILE_SIZE,15892,511
$CAP_FILE_SIZE,70345,0
$CFSIZE,260165632,255320064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,6,85,0,0
$GPS,230110,184243,4750.144,-12636.089,11,1.1,11,18.0