version: 66.06
glider: 80
mission: 97
dive: 60
start: 1 24 110 4 36 2
data:
$ID,80
$MISSION,97
$DIVE,60
$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,-607913.81
$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
$GPS1,043148,4747.886,-12642.573,24,1.1,24,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,043511,4747.886,-12642.573,21,1.1,21,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.261,0.020
$KALMAN_X,26069.5,-150.7,-122.0,-103603.5,1181.5
$KALMAN_Y,-27060.2,234.8,126.4,-12406.1,-1571.3
$MHEAD_RNG_PITCHd_Wd,256.3,132018,-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,-45.00,0.000,2,0.000,0.000,812,1977,3175,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.6,-12.4,9,85,8.57,0.00,-8.70,0.000,6,0.004,0.000,2455,1978,3431,4,0,0,0,0,0
$GC,421,-0.99,-146.0,66.8,-14.5,73,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1979,3432,0,0,0,0,0,0
$GC,750,-0.99,-146.0,112.6,-13.6,112,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1979,3433,0,0,0,0,0,0
$GC,1068,-0.99,-146.0,153.8,-12.6,141,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1978,3432,0,0,0,0,0,0
$GC,1377,-0.99,-146.0,191.9,-12.3,156,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1978,3432,0,0,0,0,0,0
$GC,1687,-0.99,-146.0,229.1,-11.9,171,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1977,3435,0,0,0,0,0,0
$GC,1996,-0.99,-146.0,265.5,-11.8,186,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1978,3432,0,0,0,0,0,0
$GC,2305,-0.99,-146.0,301.4,-11.6,201,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1978,3432,0,0,0,0,0,0
$GC,2608,-0.99,-146.0,336.2,-11.4,206,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1977,3431,0,0,0,0,0,0
$GC,2911,-0.99,-146.0,370.5,-11.3,211,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1980,3433,0,0,0,0,0,0
$GC,3214,-0.99,-146.0,404.5,-11.2,216,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1977,3433,0,0,0,0,0,0
$GC,3518,-0.99,-146.0,438.1,-11.1,221,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1976,3430,0,0,0,0,0,0
$GC,3821,-0.99,-146.0,471.4,-11.0,226,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1978,3431,0,0,0,0,0,0
$STATE,4122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4122,begin apogee
$GC,4127,-0.23,0.0,504.4,10.9,231,4274,0.90,0.00,143.77,0.005,6,0.004,0.000,2610,1979,2838,0,0,0,0,0,0
$STATE,4275,end apogee,CONTROL_FINISHED_OK
$STATE,4275,begin climb
$GC,4277,0.99,146.0,508.1,0.0,233,4426,1.40,0.00,144.15,0.005,6,0.003,0.000,2872,1979,2244,0,0,0,0,0,0
$GC,4727,0.99,146.0,455.0,13.2,241,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1978,2243,0,0,0,0,0,0
$GC,5030,0.99,146.0,415.4,13.1,246,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1979,2243,0,0,0,0,0,0
$GC,5333,0.99,146.0,376.1,12.9,251,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1978,2242,0,0,0,0,0,0
$GC,5637,0.99,146.0,337.2,12.8,256,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1979,2242,0,0,0,0,0,0
$GC,5940,0.99,146.0,298.6,12.7,261,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1979,2243,0,0,0,0,0,0
$GC,6249,0.99,146.0,259.7,12.6,276,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1978,2242,0,0,0,0,0,0
$GC,6558,0.99,146.0,221.4,12.4,291,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1979,2243,0,0,0,0,0,0
$GC,6868,0.99,146.0,183.9,12.0,306,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1976,2243,0,0,0,0,0,0
$GC,7177,0.99,146.0,147.1,11.7,322,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1980,2243,0,0,0,0,0,0
$GC,7497,0.99,146.0,111.4,10.9,352,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1978,2244,0,0,0,0,0,0
$GC,7817,0.99,146.0,78.1,10.0,383,7821,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1978,2242,0,0,0,0,0,0
$GC,8159,1.03,182.1,47.2,8.2,444,8200,0.45,2.88,30.90,0.005,4,0.004,0.004,2938,3647,2094,0,0,6,0,0,0
$GC,8211,1.03,182.1,40.9,14.2,454,8217,0.45,3.25,0.00,0.000,6,0.003,0.004,2844,1795,2094,0,0,6,0,0,0
$GC,8554,1.08,220.8,13.1,8.1,515,8595,0.47,3.40,31.65,0.005,4,0.004,0.004,2915,3404,1937,1,0,8,0,0,0
$STATE,8633,end climb,SURFACE_DEPTH_REACHED
$STATE,8633,begin surface coast
$FINISH,0.4,1.008360
$STATE,8644,end surface coast,CONTROL_FINISHED_OK
$STATE,8644,begin surface
$SM_CCo,8666,18.50,0.005,0,0,1819,250.21
$SM_GC,0.00,0.00,0.00,18.50,0.000,0.000,0.005,808,1845,1819,-8.56,-4.01,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,27.27
$INTERNAL_PRESSURE,12.4028
$TCM_TEMP,15.00
$24V_AH,24.0,23.824
$10V_AH,9.8,4.606
$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,22.875,12.200,350.475,18.500,0.000,0.000,0.000,86.569,0.000,0.000,21.715,846.444,6920.940,453.762,473.921,196.078,33.353,853.325,0.000,424.410,0.000,0.000,0.000
$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,428.995,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324076
$DATA_FILE_SIZE,15880,532
$CAP_FILE_SIZE,63167,0
$CFSIZE,260165632,255180800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,26,0,0
$GPS,240110,070137,4747.366,-12644.270,22,1.1,22,18.0