version: 66.06
glider: 80
mission: 97
dive: 65
start: 1 24 110 16 35 35
data:
$ID,80
$MISSION,97
$DIVE,65
$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,-608034.94
$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,2
$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
$GPS1,163109,4745.554,-12650.703,19,1.1,19,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,163445,4745.554,-12650.703,32,1.1,32,18.0
$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,-0.025
$KALMAN_X,29045.2,-116.0,1.2,-116785.0,949.1
$KALMAN_Y,-30764.2,319.9,86.6,-13068.4,-1426.6
$MHEAD_RNG_PITCHd_Wd,246.5,121566,-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,-45.45,0.000,2,0.000,0.000,831,2163,3199,0,0,0,0,0,0
$GC,65,-0.99,-146.0,3.7,-13.1,9,91,8.68,2.70,-7.80,0.000,4,0.004,0.004,2497,553,3432,2,0,6,0,0,0
$GC,153,-0.99,-146.0,22.2,-12.4,25,158,0.43,2.50,0.00,0.000,6,0.004,0.004,2402,1985,3432,0,0,5,0,0,0
$GC,492,-0.99,-146.0,90.3,-18.8,81,494,0.20,0.00,0.00,0.000,6,0.004,0.000,2477,1984,3434,0,0,0,0,0,0
$GC,812,-0.99,-146.0,128.4,-11.6,111,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1983,3433,0,0,0,0,0,0
$GC,1126,-0.99,-146.0,163.5,-10.9,135,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1983,3436,0,0,0,0,0,0
$GC,1435,-0.99,-146.0,197.0,-10.7,150,1437,0.38,0.00,0.00,0.000,6,0.004,0.000,2403,1984,3431,0,0,0,0,0,0
$GC,1744,-0.99,-146.0,246.5,-16.0,165,1746,0.35,0.00,0.00,0.000,6,0.004,0.000,2470,1983,3434,0,0,0,0,0,0
$GC,2053,-0.99,-146.0,279.6,-10.5,180,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1982,3430,0,0,0,0,0,0
$GC,2381,-0.99,-146.0,313.8,-10.4,192,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1984,3434,0,0,0,0,0,0
$GC,2684,-0.99,-146.0,345.2,-10.3,197,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1982,3435,0,0,0,0,0,0
$GC,2987,-0.99,-146.0,376.2,-10.2,202,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1982,3433,0,0,0,0,0,0
$GC,3290,-0.99,-146.0,406.9,-10.1,207,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1983,3433,0,0,0,0,0,0
$GC,3593,-0.99,-146.0,437.3,-10.0,212,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1983,3434,0,0,0,0,0,0
$GC,3897,-0.99,-146.0,467.5,-10.0,217,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1982,3434,0,0,0,0,0,0
$GC,4200,-0.99,-146.0,497.4,-9.9,222,4202,0.45,0.00,0.00,0.000,6,0.004,0.000,2404,1984,3432,0,0,0,0,0,0
$STATE,4259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4259,begin apogee
$GC,4263,-0.23,0.0,505.7,10.6,223,4410,1.40,0.00,143.07,0.005,6,0.004,0.000,2646,1984,2840,1,0,0,0,0,0
$STATE,4411,end apogee,CONTROL_FINISHED_OK
$STATE,4411,begin climb
$GC,4413,0.99,146.0,509.1,0.0,225,4562,1.33,0.00,144.52,0.005,6,0.004,0.000,2904,1983,2240,0,0,0,0,0,0
$GC,4864,0.99,146.0,445.0,15.9,233,4865,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1984,2241,0,0,0,0,0,0
$GC,5167,0.99,146.0,397.0,15.8,238,5169,0.50,0.00,0.00,0.000,6,0.003,0.000,2835,1983,2241,1,0,0,0,0,0
$GC,5470,0.99,146.0,365.6,10.3,243,5472,0.45,0.00,0.00,0.000,6,0.003,0.000,2908,1982,2240,0,0,0,0,0,0
$GC,5773,0.99,146.0,318.5,15.7,248,5775,0.28,0.00,0.00,0.000,6,0.003,0.000,2835,1985,2241,0,0,0,0,0,0
$GC,6077,0.99,146.0,287.9,9.9,255,6079,0.30,0.00,0.00,0.000,6,0.004,0.000,2906,1984,2239,0,0,0,0,0,0
$GC,6387,0.99,146.0,241.3,15.0,270,6388,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1983,2240,0,0,0,0,0,0
$GC,6696,0.99,146.0,195.2,14.8,285,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1984,2240,0,0,0,0,0,0
$GC,7005,0.99,146.0,150.4,14.4,300,7006,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1983,2239,0,0,0,0,0,0
$GC,7324,0.99,146.0,107.1,13.1,329,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1984,2240,0,0,0,0,0,0
$GC,7647,0.99,146.0,67.2,11.3,368,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1983,2240,0,0,0,0,0,0
$GC,7990,1.02,170.6,33.2,8.7,429,8015,0.00,0.00,21.27,0.005,6,0.000,0.000,2906,1983,2142,0,0,0,0,0,0
$STATE,8282,end climb,SURFACE_DEPTH_REACHED
$STATE,8282,begin surface coast
$FINISH,0.5,1.008360
$STATE,8300,end surface coast,CONTROL_FINISHED_OK
$STATE,8300,begin surface
$SM_CCo,8319,50.50,0.005,0,0,1816,250.21
$SM_GC,-0.00,0.00,0.00,50.50,0.000,0.000,0.005,841,1985,1816,-8.42,-0.06,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,24.24
$INTERNAL_PRESSURE,12.3442
$TCM_TEMP,15.00
$24V_AH,24.0,25.090
$10V_AH,9.8,4.734
$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,24.950,5.200,308.875,50.500,0.000,0.000,0.000,87.395,0.000,0.000,32.525,794.319,6719.561,444.643,435.868,193.145,33.355,811.954,0.000,380.802,0.000,0.000,0.000
$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,383.664,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324112
$DATA_FILE_SIZE,12749,485
$CAP_FILE_SIZE,60592,0
$CFSIZE,260165632,255037440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,8,11,0,0
$GPS,240110,185546,4745.071,-12652.339,14,1.1,14,18.0