version: 66.06
glider: 80
mission: 97
dive: 74
start: 1 25 110 14 28 30
data:
$ID,80
$MISSION,97
$DIVE,74
$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,-608242.94
$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,0
$R_STBD_OVSHOOT,4
$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
$GPS1,142426,4740.246,-12704.771,23,1.1,23,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,142739,4740.246,-12704.771,10,1.1,10,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.251,-0.073
$KALMAN_X,35032.6,-12.7,-20.9,-140235.1,954.9
$KALMAN_Y,-36216.7,91.1,14.6,-17146.2,-1013.1
$MHEAD_RNG_PITCHd_Wd,235.8,102086,-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,-145.9,0.0,0.0,0,62,0.00,0.00,-44.67,0.000,2,0.000,0.000,816,1983,3182,0,0,0,0,0,0
$GC,64,-0.99,-145.9,3.7,-12.1,9,84,8.32,0.00,-8.68,0.000,6,0.004,0.000,2503,1982,3444,1,0,0,0,0,0
$GC,421,-0.99,-145.9,53.4,-11.4,73,426,0.47,0.00,0.00,0.000,6,0.004,0.000,2428,1984,3445,1,0,0,0,0,0
$GC,753,-0.99,-145.9,108.3,-15.7,118,755,0.40,0.00,0.00,0.000,6,0.004,0.000,2501,1982,3443,0,0,0,0,0,0
$GC,1073,-0.99,-146.0,139.8,-9.7,148,1075,0.30,0.00,0.00,0.000,6,0.004,0.000,2431,1983,3442,0,0,0,0,0,0
$GC,1393,-0.99,-146.0,185.2,-14.1,167,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,1984,3444,0,0,0,0,0,0
$GC,1703,-0.99,-146.0,228.0,-13.6,182,1705,0.40,0.00,0.00,0.000,6,0.004,0.000,2501,1982,3442,0,0,0,0,0,0
$GC,2012,-0.99,-146.0,255.6,-8.8,197,2014,0.40,0.00,0.00,0.000,6,0.003,0.000,2430,1981,3442,0,0,0,0,0,0
$GC,2321,-0.99,-146.0,297.2,-13.5,212,2323,0.28,0.00,0.00,0.000,6,0.004,0.000,2498,1982,3440,0,0,0,0,0,0
$GC,2666,-0.99,-146.0,328.0,-8.8,219,2668,0.28,0.00,0.00,0.000,6,0.004,0.000,2429,1984,3443,0,0,0,0,0,0
$GC,2969,-0.99,-146.0,367.9,-13.2,224,2971,0.35,0.00,0.00,0.000,6,0.003,0.000,2508,1985,3443,0,0,0,0,0,0
$GC,3272,-0.99,-146.0,393.0,-8.2,229,3274,0.43,0.00,0.00,0.000,6,0.004,0.000,2437,1982,3443,0,0,0,0,0,0
$GC,3576,-0.99,-146.0,430.2,-12.4,234,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1983,3441,0,0,0,0,0,0
$GC,3878,-0.99,-146.0,467.5,-12.3,239,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,1985,3443,0,0,0,0,0,0
$STATE,4179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4180,begin apogee
$GC,4184,-0.23,0.0,504.4,12.2,244,4335,1.23,0.00,145.95,0.005,6,0.004,0.000,2703,1986,2836,0,0,0,0,0,0
$STATE,4335,end apogee,CONTROL_FINISHED_OK
$STATE,4335,begin climb
$GC,4337,0.99,146.0,510.8,0.0,246,4485,1.30,0.00,143.50,0.005,6,0.004,0.000,2962,1983,2239,0,0,0,0,0,0
$GC,4784,0.99,146.0,427.6,21.0,254,4787,0.47,0.00,0.00,0.000,6,0.004,0.000,2891,1983,2241,1,0,0,0,0,0
$GC,5087,0.99,146.0,382.9,14.6,259,5089,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1983,2240,0,0,0,0,0,0
$GC,5390,0.99,146.0,339.1,14.4,264,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1985,2241,0,0,0,0,0,0
$GC,5694,0.99,146.0,295.8,14.3,269,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1985,2241,0,0,0,0,0,0
$GC,6003,0.99,146.0,252.3,14.0,284,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1983,2239,0,0,0,0,0,0
$GC,6312,0.99,146.0,209.4,13.8,299,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1983,2240,0,0,0,0,0,0
$GC,6622,0.99,146.0,167.6,13.4,314,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1986,2241,0,0,0,0,0,0
$GC,6936,0.99,146.0,126.7,12.6,337,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1984,2242,0,0,0,0,0,0
$GC,7256,0.99,146.0,88.2,11.5,367,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1982,2240,0,0,0,0,0,0
$GC,7587,0.99,146.0,53.0,9.8,420,7591,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1985,2241,0,0,0,0,0,0
$GC,7930,1.04,187.6,23.9,7.9,481,7970,0.00,0.00,35.08,0.005,6,0.000,0.000,2890,1982,2075,0,0,0,0,0,0
$STATE,8130,end climb,SURFACE_DEPTH_REACHED
$STATE,8130,begin surface coast
$FINISH,0.4,1.008359
$STATE,8149,end surface coast,CONTROL_FINISHED_OK
$STATE,8149,begin surface
$SM_CCo,8167,39.53,0.005,0,0,1821,250.21
$SM_GC,0.00,0.00,0.00,39.53,0.000,0.000,0.005,860,1983,1821,-8.32,-0.06,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,30.31
$INTERNAL_PRESSURE,12.3247
$TCM_TEMP,15.00
$24V_AH,24.0,27.398
$10V_AH,9.8,4.959
$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,25.000,0.000,324.525,39.525,0.000,0.000,0.000,89.795,0.000,0.000,11.278,836.564,6483.711,443.791,442.315,197.271,33.354,825.378,0.000,400.440,0.000,0.000,0.000
$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,411.858,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324148
$DATA_FILE_SIZE,15838,521
$CAP_FILE_SIZE,61215,0
$CFSIZE,260165632,254775296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$GPS,250110,164555,4739.547,-12706.199,10,1.1,10,18.0