version: 66.06
glider: 80
mission: 97
dive: 2
start: 1 20 110 1 30 13
data:
$ID,80
$MISSION,97
$DIVE,2
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,40
$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,-606525.44
$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,2
$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
$GPS1,012623,4809.000,-12539.600,7,1.1,7,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,012925,4809.000,-12539.600,8,1.1,8,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.212,-0.156
$KALMAN_X,46.5,46.5,46.5,-144.2,80.9
$KALMAN_Y,34.3,34.3,34.3,-106.2,59.6
$MHEAD_RNG_PITCHd_Wd,215.6,218580,-18.1,-10.000
$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,-1.00,-146.0,0.0,0.0,0,107,0.00,0.00,-89.68,0.000,2,0.000,0.000,902,1978,3126,0,0,0,0,0,0
$GC,109,-1.00,-146.0,3.0,-13.7,18,135,7.72,2.25,-10.35,0.000,4,0.004,0.004,2468,3496,3438,4,0,5,0,0,0
$GC,309,-1.00,-146.0,39.3,-15.2,54,314,0.00,3.38,0.00,0.000,6,0.000,0.004,2470,1829,3436,0,0,8,0,0,0
$GC,654,-1.00,-146.0,87.3,-13.0,111,659,0.00,3.40,0.00,0.000,4,0.000,0.004,2470,3559,3438,0,0,8,0,0,0
$STATE,672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,673,begin apogee
$GC,681,-0.23,0.0,90.2,12.9,112,807,0.62,0.00,121.30,0.005,6,0.004,0.000,2642,1822,2837,0,0,0,0,0,0
$STATE,808,end apogee,CONTROL_FINISHED_OK
$STATE,808,begin climb
$GC,810,1.00,146.0,95.0,0.0,125,934,1.05,0.00,119.28,0.005,6,0.004,0.000,2895,1824,2241,0,0,0,0,0,0
$GC,1261,1.02,158.4,55.5,9.4,188,1282,0.00,3.22,11.52,0.005,4,0.000,0.004,2896,3614,2193,0,0,8,0,0,0
$GC,1310,1.02,163.5,50.8,9.8,197,1324,0.00,3.05,6.18,0.005,6,0.000,0.004,2896,1784,2172,0,0,5,0,0,0
$GC,1663,1.04,175.1,17.4,9.5,260,1683,0.00,2.92,11.30,0.005,4,0.000,0.004,2896,3417,2123,0,0,7,0,0,0
$GC,1728,1.04,177.7,10.8,9.9,272,1738,0.00,2.70,4.07,0.005,6,0.000,0.004,2897,2025,2113,0,0,5,0,0,0
$STATE,1809,end climb,SURFACE_DEPTH_REACHED
$STATE,1809,begin surface coast
$FINISH,0.3,1.008360
$STATE,1828,end surface coast,CONTROL_FINISHED_OK
$STATE,1829,begin surface
$SM_CCo,1847,45.88,0.005,0,0,1817,250.45
$SM_GC,0.00,0.00,0.00,45.88,0.000,0.000,0.005,826,1828,1817,-8.48,-4.44,250.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,21.37
$INTERNAL_PRESSURE,11.9731
$TCM_TEMP,15.00
$24V_AH,24.0,13.195
$10V_AH,9.8,3.338
$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,19.875,24.550,273.650,45.875,0.000,0.000,0.000,0.000,0.000,0.000,9.660,425.432,807.041,424.978,262.776,35.612,30.183,667.404,0.000,251.542,0.000,0.000,0.000
$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,218.976,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324216
$DATA_FILE_SIZE,6455,290
$CAP_FILE_SIZE,118181,0
$CFSIZE,260165632,256737280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,55,0,0
$GPS,200110,020249,4808.854,-12539.780,35,1.1,35,18.0