version: 66.06
glider: 80
mission: 97
dive: 66
start: 1 24 110 19 0 2
data:
$ID,80
$MISSION,97
$DIVE,66
$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,-608063.06
$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
$GPS1,185546,4745.071,-12652.339,14,1.1,14,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,185910,4745.071,-12652.339,26,1.1,26,18.0
$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,-0.037
$KALMAN_X,29817.2,-135.8,-130.5,-119426.7,1113.0
$KALMAN_Y,-31296.7,332.8,-1.0,-13357.3,-1150.5
$MHEAD_RNG_PITCHd_Wd,243.9,119461,-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,15,-0.99,-146.0,0.0,0.0,0,62,0.00,0.00,-44.72,0.000,2,0.000,0.000,839,1983,3186,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.7,-13.2,9,84,7.85,0.00,-7.95,0.000,6,0.004,0.000,2466,1983,3436,0,0,0,0,0,0
$GC,421,-0.99,-146.0,64.3,-14.2,73,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1983,3435,0,0,0,0,0,0
$GC,750,-0.99,-146.0,108.1,-12.8,114,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1985,3434,0,0,0,0,0,0
$GC,1070,-0.99,-146.0,147.6,-12.1,144,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1983,3433,0,0,0,0,0,0
$GC,1379,-0.99,-146.0,184.0,-11.6,160,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1983,3434,0,0,0,0,0,0
$GC,1688,-0.99,-146.0,219.5,-11.4,175,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1982,3434,0,0,0,0,0,0
$GC,1997,-0.99,-146.0,254.3,-11.2,190,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1982,3435,0,0,0,0,0,0
$GC,2307,-0.99,-146.0,288.6,-11.0,205,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1984,3435,0,0,0,0,0,0
$GC,2612,-0.99,-146.0,322.1,-10.9,214,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1983,3434,0,0,0,0,0,0
$GC,2915,-0.99,-146.0,354.9,-10.8,219,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1983,3434,0,0,0,0,0,0
$GC,3218,-0.99,-146.0,387.3,-10.7,224,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1983,3435,0,0,0,0,0,0
$GC,3521,-0.99,-146.0,419.4,-10.6,229,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1982,3432,0,0,0,0,0,0
$GC,3826,-0.99,-146.0,451.3,-10.5,234,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1984,3433,0,0,0,0,0,0
$GC,4128,-0.99,-146.0,482.9,-10.4,239,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1984,3433,0,0,0,0,0,0
$STATE,4308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4308,begin apogee
$GC,4313,-0.23,0.0,501.7,10.4,242,4460,0.85,0.00,143.20,0.005,6,0.004,0.000,2620,1982,2838,0,0,0,0,0,0
$STATE,4460,end apogee,CONTROL_FINISHED_OK
$STATE,4460,begin climb
$GC,4462,0.99,146.0,505.2,0.0,244,4611,1.23,0.00,143.62,0.005,6,0.004,0.000,2882,1983,2244,0,0,0,0,0,0
$GC,4913,0.99,146.0,448.9,14.0,252,4914,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1983,2243,0,0,0,0,0,0
$GC,5216,0.99,146.0,406.9,13.9,257,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1983,2245,0,0,0,0,0,0
$GC,5519,0.99,146.0,365.2,13.7,262,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1983,2242,0,0,0,0,0,0
$GC,5822,0.99,146.0,324.0,13.6,267,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1984,2243,0,0,0,0,0,0
$GC,6128,0.99,146.0,282.9,13.3,276,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1982,2244,0,0,0,0,0,0
$GC,6437,0.99,146.0,241.9,13.2,291,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1983,2241,0,0,0,0,0,0
$GC,6747,0.99,146.0,201.5,13.0,306,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1984,2243,0,0,0,0,0,0
$GC,7056,0.99,146.0,162.2,12.6,321,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1983,2243,0,0,0,0,0,0
$GC,7372,0.99,146.0,123.6,12.0,346,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1982,2243,0,0,0,0,0,0
$GC,7691,0.99,146.0,87.4,11.1,376,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1985,2247,0,0,0,0,0,0
$GC,8023,1.00,158.0,54.1,9.3,429,8038,0.00,0.00,12.32,0.005,6,0.000,0.000,2882,1985,2193,0,0,0,0,0,0
$GC,8375,1.04,185.0,22.8,8.6,492,8401,0.00,0.00,23.80,0.005,6,0.000,0.000,2881,1983,2081,0,0,0,0,0,0
$STATE,8578,end climb,SURFACE_DEPTH_REACHED
$STATE,8578,begin surface coast
$FINISH,0.1,1.008360
$STATE,8597,end surface coast,CONTROL_FINISHED_OK
$STATE,8597,begin surface
$SM_CCo,8615,40.97,0.005,0,0,1819,250.21
$SM_GC,-0.00,0.00,0.00,40.97,0.000,0.000,0.005,863,1984,1819,-8.31,-0.11,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,25.90
$INTERNAL_PRESSURE,12.3247
$TCM_TEMP,15.00
$24V_AH,24.0,25.344
$10V_AH,9.8,4.759
$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,20.050,0.000,322.950,40.975,0.000,0.000,0.000,87.384,0.000,0.000,27.494,851.186,6919.273,437.250,462.513,195.407,33.359,828.272,0.000,405.482,0.000,0.000,0.000
$DEVICE_MAMPS,3.835,0.000,4.602,4.602,0.000,103.000,0.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,26.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,empty,nil
$SENSOR_SECS,416.104,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324084
$DATA_FILE_SIZE,15857,532
$CAP_FILE_SIZE,60869,0
$CFSIZE,260165632,255008768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240110,212500,4744.555,-12654.022,15,1.1,15,18.0