version: 66.06
glider: 80
mission: 97
dive: 62
start: 1 24 110 9 34 19
data:
$ID,80
$MISSION,97
$DIVE,62
$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,-607966.81
$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,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
$GPS1,092955,4747.133,-12646.053,30,1.1,30,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,093328,4747.133,-12646.053,15,1.1,16,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.259,-0.036
$KALMAN_X,26869.7,-11.1,-96.5,-108869.2,806.2
$KALMAN_Y,-28717.4,138.5,127.4,-12054.2,-1383.9
$MHEAD_RNG_PITCHd_Wd,244.0,127841,-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,-45.40,0.000,2,0.000,0.000,830,1915,3192,0,0,0,0,0,0
$GC,65,-0.99,-146.0,3.9,-13.9,9,91,8.12,3.15,-7.72,0.000,4,0.004,0.004,2499,3641,3433,5,0,7,0,0,0
$GC,119,-0.99,-146.0,18.6,-12.4,19,125,0.43,3.12,0.00,0.000,6,0.003,0.004,2405,1878,3432,0,0,7,0,0,0
$GC,460,-0.99,-146.0,86.7,-18.5,77,466,0.28,3.22,0.00,0.000,4,0.004,0.004,2479,3579,3431,0,0,7,0,0,0
$GC,481,-0.99,-146.0,89.9,-14.1,78,488,0.45,2.95,0.00,0.000,6,0.003,0.003,2385,1901,3434,0,0,6,0,0,0
$GC,806,-0.99,-146.0,151.6,-18.6,109,808,0.50,0.00,0.00,0.000,6,0.003,0.000,2450,1899,3431,1,0,0,0,0,0
$GC,1115,-0.99,-146.0,191.0,-12.4,124,1120,0.00,3.17,0.00,0.000,4,0.000,0.004,2451,3405,3432,0,0,8,0,0,0
$GC,1154,-0.99,-146.0,195.8,-12.7,126,1158,0.00,2.67,0.00,0.000,6,0.000,0.004,2451,1838,3432,0,0,5,0,0,0
$GC,1479,-0.99,-146.0,235.5,-12.1,142,1483,0.00,2.60,0.00,0.000,4,0.000,0.004,2451,3394,3435,0,0,4,0,0,0
$GC,1511,-0.99,-146.0,239.5,-12.0,143,1516,0.00,2.67,0.00,0.000,6,0.000,0.004,2451,1789,3434,0,0,4,0,0,0
$GC,1826,-0.99,-146.0,277.1,-12.0,159,1830,0.00,2.88,0.00,0.000,4,0.000,0.004,2451,3506,3433,0,0,7,0,0,0
$GC,1864,-0.99,-146.0,281.7,-12.0,161,1868,0.00,2.90,0.00,0.000,6,0.000,0.004,2451,1750,3432,0,0,5,0,0,0
$GC,2206,-0.99,-146.0,321.9,-11.8,172,2211,0.00,3.20,0.00,0.000,4,0.000,0.004,2451,3610,3432,0,0,7,0,0,0
$GC,2255,-0.99,-146.0,327.8,-12.0,172,2259,0.00,2.95,0.00,0.000,6,0.000,0.004,2453,1905,3432,0,0,6,0,0,0
$GC,2570,-0.99,-146.0,364.2,-11.6,178,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1906,3433,0,0,0,0,0,0
$GC,2873,-0.99,-146.0,398.9,-11.5,183,2878,0.00,3.12,0.00,0.000,4,0.000,0.004,2451,3481,3433,0,0,7,0,0,0
$GC,2904,-0.99,-146.0,402.7,-11.7,183,2909,0.00,2.17,0.00,0.000,6,0.000,0.004,2453,2014,3432,0,0,4,0,0,0
$GC,3236,-0.99,-146.0,440.1,-11.3,189,3241,0.00,2.95,0.00,0.000,4,0.000,0.004,2452,502,3434,0,0,7,0,0,0
$GC,3256,-0.99,-146.0,442.5,-11.5,189,3261,0.00,2.33,0.00,0.000,6,0.000,0.003,2451,2024,3433,0,0,5,0,0,0
$GC,3599,-0.99,-146.0,480.8,-11.2,195,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2022,3435,0,0,0,0,0,0
$STATE,3780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3780,begin apogee
$GC,3785,-0.23,0.0,501.0,11.1,198,3933,0.98,0.00,143.88,0.005,6,0.004,0.000,2626,1834,2837,1,0,0,0,0,0
$STATE,3934,end apogee,CONTROL_FINISHED_OK
$STATE,3934,begin climb
$GC,3936,0.99,146.0,504.6,0.0,200,4084,1.38,0.00,143.32,0.005,6,0.004,0.000,2902,1833,2243,1,0,0,0,0,0
$GC,4385,0.99,146.0,442.1,15.5,208,4389,0.00,3.00,0.00,0.000,4,0.000,0.004,2902,3546,2243,0,0,6,0,0,0
$GC,4427,0.99,146.0,435.3,15.2,208,4432,0.00,2.55,0.00,0.000,6,0.000,0.004,2902,1941,2243,0,0,5,0,0,0
$GC,4748,0.99,146.0,386.2,15.4,214,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1942,2243,0,0,0,0,0,0
$GC,5051,0.99,146.0,340.1,15.2,219,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1940,2243,0,0,0,0,0,0
$GC,5354,0.99,146.0,294.5,15.1,224,5359,0.00,2.75,0.00,0.000,4,0.000,0.004,2901,3484,2243,0,0,6,0,0,0
$GC,5380,0.99,146.0,290.3,15.2,225,5385,0.00,2.42,0.00,0.000,6,0.000,0.003,2902,1987,2246,0,0,5,0,0,0
$GC,5702,0.99,146.0,243.0,14.8,241,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1989,2245,0,0,0,0,0,0
$GC,6011,0.99,146.0,198.1,14.5,256,6012,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1988,2241,0,0,0,0,0,0
$GC,6320,0.99,146.0,154.5,13.9,271,6325,0.00,2.78,0.00,0.000,4,0.000,0.004,2902,388,2244,0,0,5,0,0,0
$GC,6340,0.99,146.0,151.5,14.5,272,6345,0.00,2.58,0.00,0.000,6,0.000,0.003,2902,2025,2244,0,0,6,0,0,0
$GC,6666,0.99,146.0,108.4,12.9,302,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2022,2242,0,0,0,0,0,0
$GC,6989,0.99,146.0,69.5,11.1,340,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2022,2242,0,0,0,0,0,0
$GC,7332,1.02,167.7,35.9,8.8,401,7357,0.00,2.50,19.90,0.005,4,0.000,0.004,2902,391,2153,0,0,4,0,0,0
$GC,7380,1.02,167.7,31.4,10.2,410,7385,0.00,2.92,0.00,0.000,6,0.000,0.004,2902,2122,2153,0,0,5,0,0,0
$STATE,7664,end climb,SURFACE_DEPTH_REACHED
$STATE,7664,begin surface coast
$FINISH,0.5,1.008360
$STATE,7682,end surface coast,CONTROL_FINISHED_OK
$STATE,7682,begin surface
$SM_CCo,7701,51.85,0.005,0,0,1817,250.70
$SM_GC,0.00,0.00,0.00,51.85,0.000,0.000,0.005,857,1917,1817,-8.33,-1.87,250.70
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,25.86
$INTERNAL_PRESSURE,12.3931
$TCM_TEMP,15.00
$24V_AH,24.0,24.348
$10V_AH,9.8,4.659
$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,22.325,68.275,307.100,51.850,0.000,0.000,0.000,96.766,0.000,0.000,16.755,817.559,5979.499,495.981,467.702,216.063,33.357,908.971,0.000,426.215,0.000,0.000,0.000
$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,373.338,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324052
$DATA_FILE_SIZE,12745,464
$CAP_FILE_SIZE,72424,0
$CFSIZE,260165632,255111168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,9,140,0,0
$GPS,240110,114429,4746.659,-12647.554,20,1.1,21,18.0