version: 66.06
glider: 80
mission: 97
dive: 58
start: 1 23 110 23 45 43
data:
$ID,80
$MISSION,97
$DIVE,58
$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,-607859.62
$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,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
$GPS1,234123,4748.944,-12639.339,30,1.1,30,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,234452,4748.944,-12639.339,25,1.1,25,18.0
$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,-0.008
$KALMAN_X,24953.9,-346.0,-91.5,-98327.6,1169.4
$KALMAN_Y,-24931.7,165.4,-35.7,-12343.4,-1276.5
$MHEAD_RNG_PITCHd_Wd,250.2,136367,-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,14,-0.99,-146.0,0.0,0.0,0,62,0.00,0.00,-45.03,0.000,2,0.000,0.000,845,1977,3179,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.7,-13.1,9,84,7.72,0.00,-8.18,0.000,6,0.004,0.000,2460,1978,3432,1,0,0,0,0,0
$GC,421,-0.99,-146.0,64.7,-14.3,73,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1977,3432,0,0,0,0,0,0
$GC,756,-0.99,-146.0,109.7,-12.8,114,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1978,3432,0,0,0,0,0,0
$GC,1076,-0.99,-146.0,149.4,-12.1,144,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1978,3433,0,0,0,0,0,0
$GC,1394,-0.99,-146.0,187.4,-11.8,160,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1977,3433,0,0,0,0,0,0
$GC,1704,-0.99,-146.0,223.1,-11.4,175,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1979,3433,0,0,0,0,0,0
$GC,2013,-0.99,-146.0,258.2,-11.2,190,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1977,3432,0,0,0,0,0,0
$GC,2322,-0.99,-146.0,292.7,-11.2,205,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1978,3432,0,0,0,0,0,0
$GC,2647,-0.99,-146.0,328.5,-11.0,213,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1978,3432,0,0,0,0,0,0
$GC,2951,-0.99,-146.0,361.5,-10.9,218,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1979,3432,0,0,0,0,0,0
$GC,3253,-0.99,-146.0,394.2,-10.7,223,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1977,3432,0,0,0,0,0,0
$GC,3558,-0.99,-146.0,426.5,-10.6,228,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1979,3432,0,0,0,0,0,0
$GC,3860,-0.99,-146.0,458.6,-10.6,233,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1978,3431,0,0,0,0,0,0
$GC,4163,-0.99,-146.0,490.4,-10.5,238,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1978,3431,0,0,0,0,0,0
$STATE,4282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4282,begin apogee
$GC,4287,-0.23,0.0,503.0,10.4,240,4434,0.77,0.00,142.62,0.005,6,0.004,0.000,2634,1977,2840,0,0,0,0,0,0
$STATE,4434,end apogee,CONTROL_FINISHED_OK
$STATE,4434,begin climb
$GC,4436,0.99,146.0,506.3,0.0,242,4586,1.35,0.00,145.38,0.005,6,0.004,0.000,2901,1979,2241,0,0,0,0,0,0
$GC,4887,0.99,146.0,443.8,15.6,250,4889,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1978,2241,0,0,0,0,0,0
$GC,5191,0.99,146.0,397.0,15.4,255,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1977,2242,0,0,0,0,0,0
$GC,5494,0.99,146.0,350.8,15.2,260,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1979,2243,0,0,0,0,0,0
$GC,5797,0.99,146.0,305.2,15.0,265,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1979,2242,0,0,0,0,0,0
$GC,6105,0.99,146.0,259.3,14.8,278,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1980,2240,0,0,0,0,0,0
$GC,6414,0.99,146.0,214.2,14.5,293,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1977,2243,0,0,0,0,0,0
$GC,6723,0.99,146.0,170.1,14.0,308,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1977,2241,0,0,0,0,0,0
$GC,7037,0.99,146.0,127.3,13.4,330,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1980,2239,0,0,0,0,0,0
$GC,7358,0.99,146.0,87.0,12.0,360,7359,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1977,2241,0,0,0,0,0,0
$GC,7689,0.99,146.0,50.4,10.0,414,7693,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1977,2242,0,0,0,0,0,0
$GC,8032,1.03,177.6,20.7,8.4,475,8062,0.00,0.00,27.77,0.005,6,0.000,0.000,2901,1980,2112,0,0,0,0,0,0
$STATE,8206,end climb,SURFACE_DEPTH_REACHED
$STATE,8206,begin surface coast
$FINISH,0.0,1.008360
$STATE,8224,end surface coast,CONTROL_FINISHED_OK
$STATE,8224,begin surface
$SM_CCo,8243,45.35,0.005,0,0,1820,250.21
$SM_GC,0.00,0.00,0.00,45.35,0.000,0.000,0.005,822,1979,1820,-8.50,-0.23,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,29.36
$INTERNAL_PRESSURE,12.3735
$TCM_TEMP,15.00
$24V_AH,24.0,23.314
$10V_AH,9.8,4.554
$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,20.300,0.000,315.775,45.350,0.000,0.000,0.000,90.874,0.000,0.000,25.915,820.656,6584.168,435.476,463.615,197.511,33.352,813.896,0.000,410.294,0.000,0.000,0.000
$DEVICE_MAMPS,3.835,0.000,4.602,4.602,0.000,103.000,0.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,26.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,empty,nil
$SENSOR_SECS,418.447,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324128
$DATA_FILE_SIZE,12734,510
$CAP_FILE_SIZE,58991,0
$CFSIZE,260165632,255246336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,240110,020445,4748.407,-12640.931,26,1.1,26,18.0