version: 66.06
glider: 80
mission: 97
dive: 69
start: 1 25 110 2 13 9
data:
$ID,80
$MISSION,97
$DIVE,69
$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,-608135.25
$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
$GPS1,020853,4743.505,-12657.231,17,1.1,17,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-70.0
$GPS2,021218,4743.505,-12657.231,25,1.1,26,18.0
$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,-0.033
$KALMAN_X,31575.6,-193.3,-23.9,-127277.9,1044.1
$KALMAN_Y,-33028.4,148.2,166.7,-14507.4,-1325.1
$MHEAD_RNG_PITCHd_Wd,244.7,113036,-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,-45.10,0.000,2,0.000,0.000,835,1984,3190,0,0,0,0,0,0
$GC,65,-0.99,-146.0,3.8,-13.3,9,85,7.95,0.00,-7.85,0.000,6,0.004,0.000,2469,1983,3437,3,0,0,0,0,0
$GC,422,-0.99,-146.0,62.8,-13.9,73,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1983,3438,0,0,0,0,0,0
$GC,752,-0.99,-146.0,105.8,-12.4,115,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1984,3438,0,0,0,0,0,0
$GC,1072,-0.99,-146.0,144.3,-11.9,145,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1984,3438,0,0,0,0,0,0
$GC,1392,-0.99,-146.0,181.3,-11.5,163,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1984,3436,0,0,0,0,0,0
$GC,1702,-0.99,-146.0,215.9,-11.1,178,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1982,3438,0,0,0,0,0,0
$GC,2011,-0.99,-146.0,249.9,-10.9,193,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1984,3436,0,0,0,0,0,0
$GC,2320,-0.99,-146.0,283.4,-10.8,208,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1984,3438,0,0,0,0,0,0
$GC,2667,-0.99,-146.0,320.4,-10.6,219,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1985,3436,0,0,0,0,0,0
$GC,2970,-0.99,-146.0,352.5,-10.6,224,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1984,3439,0,0,0,0,0,0
$GC,3273,-0.99,-146.0,384.1,-10.4,229,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1982,3438,0,0,0,0,0,0
$GC,3576,-0.99,-146.0,415.5,-10.3,234,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1983,3437,0,0,0,0,0,0
$GC,3879,-0.99,-146.0,446.6,-10.2,239,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1983,3437,0,0,0,0,0,0
$GC,4183,-0.99,-146.0,477.4,-10.2,244,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1984,3436,0,0,0,0,0,0
$STATE,4423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4423,begin apogee
$GC,4428,-0.23,0.0,502.0,10.1,248,4577,0.95,0.00,144.98,0.005,6,0.004,0.000,2638,1982,2838,1,0,0,0,0,0
$STATE,4578,end apogee,CONTROL_FINISHED_OK
$STATE,4578,begin climb
$GC,4580,0.99,146.0,505.2,0.0,250,4729,1.25,0.00,144.35,0.005,6,0.004,0.000,2895,1985,2241,0,0,0,0,0,0
$GC,5028,0.99,146.0,444.6,15.1,258,5030,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1984,2241,0,0,0,0,0,0
$GC,5331,0.99,146.0,399.0,15.0,263,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1981,2241,0,0,0,0,0,0
$GC,5634,0.99,146.0,353.9,14.9,268,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1984,2242,0,0,0,0,0,0
$GC,5937,0.99,146.0,309.3,14.7,273,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1986,2242,0,0,0,0,0,0
$GC,6244,0.99,146.0,264.7,14.4,284,6246,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1983,2241,0,0,0,0,0,0
$GC,6554,0.99,146.0,220.5,14.3,299,6555,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1984,2241,0,0,0,0,0,0
$GC,6863,0.99,146.0,177.2,13.8,314,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1984,2242,0,0,0,0,0,0
$GC,7176,0.99,146.0,135.1,13.1,334,7177,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1985,2242,0,0,0,0,0,0
$GC,7495,0.99,146.0,94.9,12.3,364,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1984,2242,0,0,0,0,0,0
$GC,7824,0.99,146.0,58.0,10.3,412,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1983,2241,0,0,0,0,0,0
$GC,8166,1.03,180.0,27.5,8.3,473,8201,0.00,0.00,29.55,0.005,6,0.000,0.000,2896,1982,2103,0,0,0,0,0,0
$STATE,8407,end climb,SURFACE_DEPTH_REACHED
$STATE,8407,begin surface coast
$FINISH,-0.0,1.008360
$STATE,8425,end surface coast,CONTROL_FINISHED_OK
$STATE,8425,begin surface
$SM_CCo,8444,44.12,0.005,0,0,1816,250.21
$SM_GC,0.00,0.00,0.00,44.12,0.000,0.000,0.005,858,1984,1816,-8.34,-0.14,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,28.73
$INTERNAL_PRESSURE,12.2759
$TCM_TEMP,15.00
$24V_AH,24.0,26.105
$10V_AH,9.8,4.832
$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,20.375,0.000,318.875,44.125,0.000,0.000,0.000,86.613,0.000,0.000,27.524,831.597,6771.928,441.165,458.874,194.269,33.356,825.474,0.000,404.535,0.000,0.000,0.000
$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,413.489,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324064
$DATA_FILE_SIZE,15847,520
$CAP_FILE_SIZE,59455,0
$CFSIZE,260165632,254922752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$GPS,250110,043533,4742.943,-12658.846,28,1.1,29,18.0