version: 66.06
glider: 80
mission: 97
dive: 64
start: 1 24 110 14 7 27
data:
$ID,80
$MISSION,97
$DIVE,64
$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,-608001.81
$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,0
$R_STBD_OVSHOOT,1
$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
$GPS1,140320,4746.165,-12649.110,30,1.1,31,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,140635,4746.165,-12649.110,11,1.1,11,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.260,-0.024
$KALMAN_X,28319.1,-83.0,22.2,-114144.6,1036.9
$KALMAN_Y,-29916.3,216.9,205.9,-12801.9,-1335.8
$MHEAD_RNG_PITCHd_Wd,246.7,123802,-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,-45.17,0.000,2,0.000,0.000,848,1985,3187,0,0,0,0,0,0
$GC,65,-0.99,-146.0,3.8,-13.3,9,85,8.43,0.00,-8.25,0.000,6,0.004,0.000,2520,1982,3434,2,0,0,0,0,0
$GC,422,-0.99,-146.0,48.4,-9.9,73,427,0.47,0.00,0.00,0.000,6,0.004,0.000,2455,1986,3433,1,0,0,0,0,0
$GC,757,-0.99,-146.0,97.0,-14.0,123,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1984,3432,0,0,0,0,0,0
$GC,1077,-0.99,-146.0,139.3,-13.0,153,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1985,3434,0,0,0,0,0,0
$GC,1387,-0.99,-146.0,178.6,-12.4,172,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1986,3433,0,0,0,0,0,0
$GC,1697,-0.99,-146.0,216.3,-12.1,187,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1986,3434,0,0,0,0,0,0
$GC,2006,-0.99,-146.0,253.2,-11.8,202,2011,0.00,2.55,0.00,0.000,4,0.000,0.004,2454,468,3434,0,0,4,0,0,0
$GC,2027,-0.99,-146.0,255.8,-12.3,203,2032,0.00,2.80,0.00,0.000,6,0.000,0.003,2452,2003,3435,0,0,6,0,0,0
$GC,2354,-0.99,-146.0,294.0,-11.7,219,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2006,3432,0,0,0,0,0,0
$GC,2658,-0.99,-146.0,329.2,-11.6,226,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2003,3435,0,0,0,0,0,0
$GC,2961,-0.99,-146.0,363.8,-11.4,231,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2006,3436,0,0,0,0,0,0
$GC,3264,-0.99,-146.0,398.1,-11.3,236,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2004,3434,0,0,0,0,0,0
$GC,3567,-0.99,-146.0,432.0,-11.1,241,3572,0.00,2.58,0.00,0.000,4,0.000,0.004,2454,411,3432,0,0,5,0,0,0
$GC,3587,-0.99,-146.0,434.4,-11.4,241,3592,0.00,2.88,0.00,0.000,6,0.000,0.003,2456,2005,3435,0,0,5,0,0,0
$GC,3925,-0.99,-146.0,471.6,-11.1,247,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2003,3436,0,0,0,0,0,0
$STATE,4226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4226,begin apogee
$GC,4232,-0.23,0.0,504.9,11.0,252,4379,0.93,0.00,143.80,0.005,6,0.004,0.000,2626,1815,2838,1,0,0,0,0,0
$STATE,4380,end apogee,CONTROL_FINISHED_OK
$STATE,4380,begin climb
$GC,4382,0.99,146.0,508.7,0.0,254,4529,1.38,0.00,143.30,0.005,6,0.003,0.000,2884,1812,2242,2,0,0,0,0,0
$GC,4831,0.99,146.0,452.0,14.1,262,4836,0.00,3.40,0.00,0.000,4,0.000,0.004,2883,3444,2244,0,0,7,0,0,0
$GC,4880,0.99,146.0,445.0,14.5,262,4885,0.00,2.72,0.00,0.000,6,0.000,0.003,2884,1958,2243,0,0,7,0,0,0
$GC,5189,0.99,146.0,402.1,14.0,267,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1957,2246,0,0,0,0,0,0
$GC,5492,0.99,146.0,360.2,13.8,272,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1956,2242,0,0,0,0,0,0
$GC,5795,0.99,146.0,318.8,13.6,277,5796,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1957,2242,0,0,0,0,0,0
$GC,6101,0.99,146.0,277.5,13.5,286,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1956,2242,0,0,0,0,0,0
$GC,6410,0.99,146.0,236.3,13.2,301,6415,0.00,2.55,0.00,0.000,4,0.000,0.004,2883,3524,2243,0,0,5,0,0,0
$GC,6430,0.99,146.0,233.4,13.6,302,6436,0.00,3.12,0.00,0.000,6,0.000,0.003,2883,1825,2243,0,0,9,0,0,0
$GC,6752,0.99,146.0,191.6,12.9,318,6757,0.00,3.62,0.00,0.000,4,0.000,0.004,2884,3566,2243,0,0,8,0,0,0
$GC,6784,0.99,146.0,187.3,13.2,319,6790,0.00,2.72,0.00,0.000,6,0.000,0.003,2883,1970,2243,0,0,6,0,0,0
$GC,7100,0.99,146.0,147.4,12.5,335,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1974,2241,0,0,0,0,0,0
$GC,7419,0.99,146.0,109.3,11.8,365,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1972,2242,0,0,0,0,0,0
$GC,7740,0.99,146.0,73.8,10.6,400,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1974,2242,0,0,0,0,0,0
$GC,8082,1.03,178.6,42.1,8.3,461,8112,0.00,0.00,28.55,0.005,6,0.000,0.000,2883,1973,2109,0,0,0,0,0,0
$GC,8450,1.03,178.6,6.0,9.9,527,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1971,2109,0,0,0,0,0,0
$STATE,8486,end climb,SURFACE_DEPTH_REACHED
$STATE,8486,begin surface coast
$FINISH,0.3,1.008360
$STATE,8504,end surface coast,CONTROL_FINISHED_OK
$STATE,8504,begin surface
$SM_CCo,8523,44.83,0.005,0,0,1817,250.21
$SM_GC,-0.00,0.00,0.00,44.83,0.000,0.000,0.005,831,2166,1817,-8.46,5.06,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,23.65
$INTERNAL_PRESSURE,12.354
$TCM_TEMP,15.00
$24V_AH,24.0,24.830
$10V_AH,9.8,4.710
$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,21.475,29.425,315.650,44.825,0.000,0.000,0.000,87.625,0.000,0.000,11.323,894.056,6721.113,462.325,494.123,202.821,33.356,890.255,0.000,452.682,0.000,0.000,0.000
$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,433.653,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324112
$DATA_FILE_SIZE,15874,537
$CAP_FILE_SIZE,68173,0
$CFSIZE,260165632,255053824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,8,63,0,0
$GPS,240110,163109,4745.554,-12650.703,19,1.1,19,18.0