version: 66.06
glider: 80
mission: 97
dive: 61
start: 1 24 110 7 6 3
data:
$ID,80
$MISSION,97
$DIVE,61
$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,-607949.44
$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,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
$GPS1,070137,4747.366,-12644.270,22,1.1,22,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,070513,4747.366,-12644.270,33,1.1,33,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.261,0.022
$KALMAN_X,26477.6,-48.9,-98.1,-106233.3,970.9
$KALMAN_Y,-28205.5,200.9,161.2,-12225.5,-1802.9
$MHEAD_RNG_PITCHd_Wd,256.8,129786,-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,-146.0,0.0,0.0,0,62,0.00,0.00,-44.28,0.000,2,0.000,0.000,805,1844,3160,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.5,-12.1,9,90,8.12,2.78,-9.07,0.000,4,0.004,0.004,2473,3504,3442,1,0,7,0,0,0
$GC,146,-0.99,-146.0,22.0,-14.6,24,151,0.00,2.95,0.00,0.000,6,0.000,0.004,2474,1872,3441,0,0,6,0,0,0
$GC,488,-0.99,-146.0,70.2,-13.3,85,493,0.00,2.70,0.00,0.000,4,0.000,0.004,2473,3457,3441,0,0,5,0,0,0
$GC,515,-0.99,-146.0,73.7,-13.3,90,520,0.00,2.75,0.00,0.000,6,0.000,0.004,2475,1883,3442,0,0,6,0,0,0
$GC,841,-0.99,-146.0,114.3,-12.1,125,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1881,3440,0,0,0,0,0,0
$GC,1170,-0.99,-146.0,152.8,-11.4,155,1175,0.00,2.78,0.00,0.000,4,0.000,0.004,2474,3485,3442,0,0,6,0,0,0
$GC,1213,-0.99,-146.0,157.8,-11.2,157,1218,0.00,3.22,0.00,0.000,6,0.000,0.004,2474,1843,3443,0,0,7,0,0,0
$GC,1534,-0.99,-146.0,193.5,-11.0,173,1539,0.00,2.80,0.00,0.000,4,0.000,0.004,2476,3494,3442,0,0,5,0,0,0
$GC,1560,-0.99,-146.0,196.5,-10.8,174,1565,0.00,3.20,0.00,0.000,6,0.000,0.004,2474,1838,3442,0,0,8,0,0,0
$GC,1875,-0.99,-146.0,230.6,-10.8,189,1880,0.00,2.88,0.00,0.000,4,0.000,0.004,2475,3566,3441,0,0,6,0,0,0
$GC,1907,-0.99,-146.0,234.1,-11.1,190,1913,0.00,2.80,0.00,0.000,6,0.000,0.003,2472,1946,3443,0,0,5,0,0,0
$GC,2222,-0.99,-146.0,267.6,-10.6,206,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1948,3442,0,0,0,0,0,0
$GC,2533,-0.99,-146.0,300.2,-10.5,221,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1947,3442,0,0,0,0,0,0
$GC,2835,-0.99,-146.0,331.8,-10.4,226,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1944,3442,0,0,0,0,0,0
$GC,3138,-0.99,-146.0,363.0,-10.3,231,3142,0.00,2.60,0.00,0.000,4,0.000,0.004,2473,3537,3442,0,0,5,0,0,0
$GC,3164,-0.99,-146.0,365.8,-10.5,231,3169,0.00,3.47,0.00,0.000,6,0.000,0.004,2473,1775,3442,0,0,7,0,0,0
$GC,3496,-0.99,-146.0,399.4,-10.2,237,3501,0.00,3.35,0.00,0.000,4,0.000,0.004,2474,3464,3442,0,0,7,0,0,0
$GC,3539,-0.99,-146.0,404.0,-9.9,237,3544,0.00,3.22,0.00,0.000,6,0.000,0.003,2473,1747,3443,0,0,6,0,0,0
$GC,3854,-0.99,-146.0,435.6,-10.1,243,3859,0.00,3.00,0.00,0.000,4,0.000,0.004,2473,3444,3442,0,0,6,0,0,0
$GC,3908,-0.99,-146.0,441.1,-9.8,243,3914,0.00,2.50,0.00,0.000,6,0.000,0.004,2474,1919,3444,0,0,6,0,0,0
$GC,4217,-0.99,-146.0,471.9,-10.0,249,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1919,3442,0,0,0,0,0,0
$STATE,4519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4519,begin apogee
$GC,4524,-0.23,0.0,501.9,9.9,254,4673,0.73,0.00,145.75,0.005,6,0.004,0.000,2645,2125,2838,0,0,0,0,0,0
$STATE,4674,end apogee,CONTROL_FINISHED_OK
$STATE,4674,begin climb
$GC,4676,0.99,146.0,505.2,0.0,256,4828,1.20,2.75,143.93,0.005,4,0.004,0.004,2898,559,2239,0,0,6,0,0,0
$GC,4843,0.99,146.0,487.1,14.8,259,4847,0.00,2.35,0.00,0.000,6,0.000,0.003,2898,2010,2237,0,0,5,0,0,0
$GC,5186,0.99,146.0,434.9,15.3,265,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2009,2240,0,0,0,0,0,0
$GC,5489,0.99,146.0,389.1,15.1,270,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2010,2240,0,0,0,0,0,0
$GC,5792,0.99,146.0,343.7,14.9,275,5797,0.00,3.12,0.00,0.000,4,0.000,0.004,2898,491,2240,0,0,6,0,0,0
$GC,5812,0.99,146.0,340.5,15.3,275,5817,0.00,2.33,0.00,0.000,6,0.000,0.003,2899,1995,2239,0,0,6,0,0,0
$GC,6136,0.99,146.0,292.9,14.8,282,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1994,2240,0,0,0,0,0,0
$GC,6445,0.99,146.0,247.9,14.5,297,6446,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1994,2241,0,0,0,0,0,0
$GC,6755,0.99,146.0,203.8,14.2,312,6756,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1997,2239,0,0,0,0,0,0
$GC,7064,0.99,146.0,160.7,13.8,327,7065,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1996,2237,0,0,0,0,0,0
$GC,7380,0.99,146.0,118.7,12.7,353,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1995,2240,0,0,0,0,0,0
$GC,7700,0.99,146.0,79.8,11.7,383,7704,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1995,2239,0,0,0,0,0,0
$GC,8044,1.01,161.4,44.2,9.1,444,8065,0.00,2.78,14.38,0.005,4,0.000,0.004,2900,355,2177,0,0,6,0,0,0
$GC,8081,1.01,161.4,40.5,10.0,451,8086,0.00,2.85,0.00,0.000,6,0.000,0.004,2898,2129,2176,0,0,6,0,0,0
$GC,8423,1.02,172.9,8.0,9.3,512,8439,0.00,3.38,9.40,0.005,4,0.000,0.004,2898,336,2132,0,0,7,0,0,0
$GC,8461,1.02,172.9,4.1,10.7,519,8466,0.00,3.35,0.00,0.000,6,0.000,0.004,2901,2102,2131,0,0,7,0,0,0
$STATE,8481,end climb,SURFACE_DEPTH_REACHED
$STATE,8481,begin surface coast
$FINISH,0.0,1.008360
$STATE,8499,end surface coast,CONTROL_FINISHED_OK
$STATE,8499,begin surface
$SM_CCo,8518,47.92,0.005,0,0,1819,250.45
$SM_GC,-0.01,0.00,0.00,47.92,0.000,0.000,0.005,829,1915,1819,-8.47,-2.01,250.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.021476
$HUMID,25.78
$INTERNAL_PRESSURE,12.3931
$TCM_TEMP,15.00
$24V_AH,24.0,24.087
$10V_AH,9.8,4.633
$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,20.550,70.825,313.450,47.925,0.000,0.000,0.000,86.649,0.000,0.000,34.986,902.686,6649.328,500.814,532.454,208.047,33.354,949.823,0.000,466.254,0.000,0.000,0.000
$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,421.506,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324128
$DATA_FILE_SIZE,15823,526
$CAP_FILE_SIZE,76019,0
$CFSIZE,260165632,255139840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,150,0,0
$GPS,240110,092955,4747.133,-12646.053,30,1.1,30,18.0