version: 66.06
glider: 80
mission: 97
dive: 72
start: 1 25 110 9 37 49
data:
$ID,80
$MISSION,97
$DIVE,72
$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,-608214.88
$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
$GPS1,093323,4741.440,-12701.699,32,1.1,32,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,093657,4741.440,-12701.699,32,1.1,32,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.259,-0.034
$KALMAN_X,33778.6,-128.6,-96.8,-134996.7,1350.3
$KALMAN_Y,-34797.8,62.3,83.4,-16388.7,-1028.5
$MHEAD_RNG_PITCHd_Wd,244.5,106360,-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,14,-0.99,-145.9,0.0,0.0,0,62,0.00,0.00,-44.90,0.000,2,0.000,0.000,841,1980,3179,0,0,0,0,0,0
$GC,64,-0.99,-145.9,3.8,-13.5,9,90,7.90,2.67,-8.52,0.000,4,0.004,0.004,2481,423,3440,2,0,7,0,0,0
$GC,112,-0.99,-145.9,17.0,-14.0,18,117,0.43,2.67,0.00,0.000,6,0.004,0.004,2391,2039,3440,0,0,4,0,0,0
$GC,458,-0.99,-145.9,91.0,-19.7,75,460,0.28,0.00,0.00,0.000,6,0.003,0.000,2466,2039,3440,0,0,0,0,0,0
$GC,776,-0.99,-145.9,131.6,-12.1,105,781,0.00,2.67,0.00,0.000,4,0.000,0.004,2466,489,3440,0,0,6,0,0,0
$GC,803,-0.99,-145.9,135.0,-12.2,107,808,0.00,2.50,0.00,0.000,6,0.000,0.004,2466,2065,3440,0,0,5,0,0,0
$GC,1121,-0.99,-145.9,172.6,-11.7,128,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2066,3440,0,0,0,0,0,0
$GC,1431,-0.99,-145.9,208.2,-11.3,143,1435,0.00,3.00,0.00,0.000,4,0.000,0.004,2466,368,3441,0,0,7,0,0,0
$GC,1462,-0.99,-145.9,211.9,-11.3,144,1468,0.00,3.17,0.00,0.000,6,0.000,0.004,2466,2217,3442,0,0,7,0,0,0
$GC,1777,-0.99,-145.9,247.2,-11.1,160,1783,0.00,3.35,0.00,0.000,4,0.000,0.004,2466,447,3440,0,0,8,0,0,0
$GC,1826,-0.99,-145.9,252.7,-11.4,162,1831,0.00,3.08,0.00,0.000,6,0.000,0.003,2466,2124,3439,0,0,7,0,0,0
$GC,2142,-0.99,-145.9,287.3,-10.9,177,2147,0.00,3.15,0.00,0.000,4,0.000,0.004,2466,319,3440,0,0,8,0,0,0
$GC,2173,-0.99,-145.9,290.9,-10.8,178,2180,0.00,3.17,0.00,0.000,6,0.000,0.004,2468,2144,3442,0,0,8,0,0,0
$GC,2505,-0.99,-145.9,326.8,-10.8,187,2510,0.00,3.25,0.00,0.000,4,0.000,0.004,2466,358,3440,0,0,6,0,0,0
$GC,2536,-0.99,-145.9,330.3,-10.7,187,2542,0.00,3.20,0.00,0.000,6,0.000,0.003,2465,2182,3439,0,0,8,0,0,0
$GC,2862,-0.99,-145.9,365.2,-10.7,193,2868,0.00,3.35,0.00,0.000,4,0.000,0.004,2466,431,3441,0,0,8,0,0,0
$GC,2906,-0.99,-145.9,369.9,-10.5,193,2911,0.00,3.30,0.00,0.000,6,0.000,0.003,2467,2135,3441,0,0,7,0,0,0
$GC,3220,-0.99,-145.9,403.1,-10.6,199,3225,0.00,3.38,0.00,0.000,4,0.000,0.004,2466,339,3441,0,0,8,0,0,0
$GC,3246,-0.99,-145.9,406.0,-11.0,199,3252,0.00,3.45,0.00,0.000,6,0.000,0.003,2465,2216,3441,0,0,9,0,0,0
$GC,3578,-0.99,-145.9,440.6,-10.5,205,3583,0.00,3.40,0.00,0.000,4,0.000,0.004,2467,537,3442,0,0,8,0,0,0
$GC,3632,-0.99,-145.9,446.4,-10.6,205,3638,0.00,2.33,0.00,0.000,6,0.000,0.003,2466,2034,3439,0,0,4,0,0,0
$GC,3941,-0.99,-145.9,478.4,-10.4,211,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2035,3441,0,0,0,0,0,0
$STATE,4182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4182,begin apogee
$GC,4188,-0.23,0.0,503.5,10.3,215,4337,0.93,0.00,145.07,0.005,6,0.004,0.000,2638,1821,2839,2,0,0,0,0,0
$STATE,4337,end apogee,CONTROL_FINISHED_OK
$STATE,4337,begin climb
$GC,4340,0.99,145.9,506.6,0.0,217,4488,1.35,0.00,143.62,0.005,6,0.004,0.000,2892,1820,2241,0,0,0,0,0,0
$GC,4787,0.99,145.9,447.8,14.7,225,4792,0.00,3.38,0.00,0.000,4,0.000,0.004,2891,3611,2242,0,0,8,0,0,0
$GC,4836,0.99,145.9,440.5,14.7,225,4841,0.00,3.15,0.00,0.000,6,0.000,0.003,2891,1777,2244,0,0,6,0,0,0
$GC,5146,0.99,145.9,395.5,14.6,230,5151,0.00,3.35,0.00,0.000,4,0.000,0.004,2891,3545,2243,0,0,7,0,0,0
$GC,5183,0.99,145.9,389.8,14.4,230,5188,0.00,2.47,0.00,0.000,6,0.000,0.004,2890,1944,2241,0,0,5,0,0,0
$GC,5509,0.99,145.9,342.9,14.4,236,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1944,2245,0,0,0,0,0,0
$GC,5812,0.99,145.9,299.7,14.3,241,5813,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1944,2243,0,0,0,0,0,0
$GC,6121,0.99,145.9,256.1,14.0,256,6126,0.00,2.55,0.00,0.000,4,0.000,0.004,2890,3574,2242,0,0,5,0,0,0
$GC,6147,0.99,145.9,252.4,14.0,257,6152,0.00,2.72,0.00,0.000,6,0.000,0.003,2890,1979,2243,0,0,6,0,0,0
$GC,6463,0.99,145.9,208.9,13.8,272,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1978,2243,0,0,0,0,0,0
$GC,6772,0.99,145.9,167.2,13.4,287,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1976,2244,0,0,0,0,0,0
$GC,7086,0.99,145.9,126.3,12.6,310,7088,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1978,2243,0,0,0,0,0,0
$GC,7408,0.99,145.9,88.0,11.5,340,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1978,2242,0,0,0,0,0,0
$GC,7738,0.99,149.3,52.9,9.7,393,7748,0.00,0.00,4.80,0.005,6,0.000,0.000,2891,1979,2229,0,0,0,0,0,0
$GC,8085,1.03,176.6,22.7,8.6,455,8115,0.00,0.00,24.48,0.005,6,0.000,0.000,2890,1979,2115,0,0,0,0,0,0
$STATE,8287,end climb,SURFACE_DEPTH_REACHED
$STATE,8287,begin surface coast
$FINISH,0.2,1.008360
$STATE,8305,end surface coast,CONTROL_FINISHED_OK
$STATE,8305,begin surface
$SM_CCo,8324,45.83,0.005,0,0,1816,250.21
$SM_GC,0.00,0.00,0.00,45.83,0.000,0.000,0.005,829,1979,1816,-8.46,-0.17,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,32.87
$INTERNAL_PRESSURE,12.2954
$TCM_TEMP,15.00
$24V_AH,24.0,26.886
$10V_AH,9.8,4.909
$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,21.100,73.125,317.975,45.825,0.000,0.000,0.000,86.803,0.000,0.000,33.462,867.659,6491.769,508.160,521.917,208.047,33.353,950.127,0.000,462.277,0.000,0.000,0.000
$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,402.718,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324036
$DATA_FILE_SIZE,15840,495
$CAP_FILE_SIZE,75319,0
$CFSIZE,260165632,254816256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,163,0,0
$GPS,250110,115816,4740.806,-12703.186,21,1.1,22,18.0