version: 66.06
glider: 80
mission: 97
dive: 67
start: 1 24 110 21 29 5
data:
$ID,80
$MISSION,97
$DIVE,67
$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,-608075
$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
$GPS1,212500,4744.555,-12654.022,15,1.1,15,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,212814,4744.555,-12654.022,10,1.1,10,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.258,-0.041
$KALMAN_X,30407.1,-158.0,-163.2,-122040.5,1151.2
$KALMAN_Y,-31904.8,296.4,91.9,-13760.7,-1077.3
$MHEAD_RNG_PITCHd_Wd,242.9,117274,-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,13,begin dive
$GC,15,-0.99,-146.0,0.0,0.0,0,62,0.00,0.00,-44.62,0.000,2,0.000,0.000,862,1983,3165,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.4,-11.5,9,84,7.88,0.00,-9.07,0.000,6,0.004,0.000,2456,1983,3440,0,0,0,0,0,0
$GC,421,-0.99,-146.0,66.1,-14.8,73,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1983,3441,0,0,0,0,0,0
$GC,755,-0.99,-146.0,112.4,-13.4,113,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1984,3442,0,0,0,0,0,0
$GC,1073,-0.99,-146.0,153.4,-12.6,142,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1986,3442,0,0,0,0,0,0
$GC,1383,-0.99,-146.0,191.4,-12.3,157,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1985,3442,0,0,0,0,0,0
$GC,1692,-0.99,-146.0,228.5,-11.8,172,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1981,3441,0,0,0,0,0,0
$GC,2002,-0.99,-146.0,264.9,-11.7,187,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1983,3441,0,0,0,0,0,0
$GC,2311,-0.99,-146.0,300.7,-11.6,202,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1982,3441,0,0,0,0,0,0
$GC,2614,-0.99,-146.0,335.4,-11.4,207,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1984,3442,0,0,0,0,0,0
$GC,2917,-0.99,-146.0,369.7,-11.3,212,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1984,3441,0,0,0,0,0,0
$GC,3220,-0.99,-146.0,403.6,-11.2,217,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1984,3441,0,0,0,0,0,0
$GC,3523,-0.99,-146.0,437.2,-11.1,222,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1983,3441,0,0,0,0,0,0
$GC,3826,-0.99,-146.0,470.6,-11.0,227,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1983,3441,0,0,0,0,0,0
$STATE,4128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4128,begin apogee
$GC,4132,-0.23,0.0,503.6,10.9,232,4282,0.68,0.00,146.05,0.005,6,0.004,0.000,2637,1985,2839,0,0,0,0,0,0
$STATE,4282,end apogee,CONTROL_FINISHED_OK
$STATE,4282,begin climb
$GC,4284,0.99,146.0,506.9,0.0,234,4432,1.23,0.00,143.00,0.005,6,0.004,0.000,2903,1983,2243,0,0,0,0,0,0
$GC,4733,0.99,146.0,444.2,15.7,242,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1983,2242,0,0,0,0,0,0
$GC,5036,0.99,146.0,396.9,15.6,247,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1984,2242,0,0,0,0,0,0
$GC,5339,0.99,146.0,350.2,15.4,252,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1983,2242,0,0,0,0,0,0
$GC,5642,0.99,146.0,304.1,15.2,257,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1983,2240,0,0,0,0,0,0
$GC,5950,0.99,146.0,257.8,14.9,270,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1983,2245,0,0,0,0,0,0
$GC,6260,0.99,146.0,212.2,14.7,285,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1982,2244,0,0,0,0,0,0
$GC,6569,0.99,146.0,167.7,14.3,300,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1983,2246,0,0,0,0,0,0
$GC,6883,0.99,146.0,124.3,13.4,323,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1983,2245,0,0,0,0,0,0
$GC,7203,0.99,146.0,83.8,12.2,353,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1983,2242,0,0,0,0,0,0
$GC,7537,0.99,148.2,47.2,9.7,410,7546,0.00,0.00,3.85,0.004,6,0.000,0.000,2903,1983,2235,0,0,0,0,0,0
$GC,7883,1.03,175.9,16.6,8.6,472,7913,0.00,0.00,24.92,0.005,6,0.000,0.000,2903,1984,2117,0,0,0,0,0,0
$STATE,8019,end climb,SURFACE_DEPTH_REACHED
$STATE,8019,begin surface coast
$FINISH,0.2,1.008360
$STATE,8036,end surface coast,CONTROL_FINISHED_OK
$STATE,8036,begin surface
$SM_CCo,8054,46.60,0.005,0,0,1819,250.21
$SM_GC,-0.00,0.00,0.00,46.60,0.000,0.000,0.005,811,1984,1819,-8.56,-0.03,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,27.31
$INTERNAL_PRESSURE,12.2954
$TCM_TEMP,15.00
$24V_AH,24.0,25.606
$10V_AH,9.8,4.783
$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,20.200,0.000,317.825,46.600,0.000,0.000,0.000,91.388,0.000,0.000,11.285,800.731,6438.671,440.823,423.143,196.158,33.361,809.502,0.000,383.231,0.000,0.000,0.000
$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,392.333,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324128
$DATA_FILE_SIZE,12712,500
$CAP_FILE_SIZE,58192,0
$CFSIZE,260165632,254980096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240110,234458,4744.047,-12655.607,24,1.1,25,18.0