version: 66.06
glider: 80
mission: 97
dive: 6
start: 1 20 110 3 49 20
data:
$ID,80
$MISSION,97
$DIVE,6
$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,-606647.75
$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,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
$GPS1,034509,4808.422,-12540.415,26,1.1,26,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,034829,4808.422,-12540.415,37,1.1,37,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.234,-0.121
$KALMAN_X,444.3,160.9,106.8,-1720.4,94.5
$KALMAN_Y,-27.9,49.5,38.5,-1130.5,-21.7
$MHEAD_RNG_PITCHd_Wd,224.6,217119,-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,13,begin dive
$GC,15,-1.00,-146.0,0.0,0.0,0,62,0.00,0.00,-44.03,0.000,2,0.000,0.000,816,1952,3142,0,0,0,0,0,0
$GC,64,-1.00,-146.0,3.3,-15.5,9,90,8.12,2.58,-9.75,0.000,4,0.004,0.004,2502,3656,3433,4,0,6,0,0,0
$GC,107,-1.00,-146.0,15.3,-11.9,17,113,0.40,3.17,0.00,0.000,6,0.003,0.004,2406,1864,3433,0,0,8,0,0,0
$GC,449,-1.00,-146.0,84.4,-19.1,76,455,0.47,2.95,0.00,0.000,4,0.004,0.004,2478,3425,3431,1,0,6,0,0,0
$GC,476,-1.00,-146.0,88.4,-13.2,78,482,0.43,2.67,0.00,0.000,6,0.004,0.004,2384,1774,3434,0,0,5,0,0,0
$STATE,491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,491,begin apogee
$GC,497,-0.23,0.0,90.7,14.0,79,623,1.40,0.00,120.47,0.005,6,0.004,0.000,2654,2233,2839,1,0,0,0,0,0
$STATE,624,end apogee,CONTROL_FINISHED_OK
$STATE,624,begin climb
$GC,626,1.00,146.0,95.8,0.0,92,752,1.10,0.00,119.82,0.005,6,0.004,0.000,2891,2232,2241,0,0,0,0,0,0
$GC,1078,1.03,164.7,57.1,9.1,154,1104,0.00,2.53,16.98,0.005,4,0.000,0.004,2891,539,2167,0,0,6,0,0,0
$GC,1159,1.03,164.7,48.9,10.4,169,1165,0.00,2.92,0.00,0.000,6,0.000,0.004,2890,2035,2167,0,0,6,0,0,0
$GC,1502,1.05,183.8,17.0,9.1,230,1522,0.00,0.00,17.48,0.005,6,0.000,0.000,2891,2037,2090,0,0,0,0,0,0
$STATE,1644,end climb,SURFACE_DEPTH_REACHED
$STATE,1644,begin surface coast
$FINISH,0.1,1.008360
$STATE,1661,end surface coast,CONTROL_FINISHED_OK
$STATE,1661,begin surface
$SM_CCo,1680,41.80,0.005,0,0,1818,250.21
$SM_GC,-0.00,0.00,0.00,41.80,0.000,0.000,0.005,852,1845,1818,-8.37,-4.01,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.022243
$HUMID,21.21
$INTERNAL_PRESSURE,11.9829
$TCM_TEMP,15.00
$24V_AH,24.0,13.537
$10V_AH,9.8,3.400
$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,22.400,17.900,274.750,41.800,0.000,0.000,0.000,79.638,0.000,0.000,38.663,398.712,739.570,372.400,271.473,147.952,33.336,598.922,0.000,232.340,0.000,0.000,0.000
$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,198.118,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324212
$DATA_FILE_SIZE,6437,259
$CAP_FILE_SIZE,37295,0
$CFSIZE,260165632,256716800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,6,39,0,0
$GPS,200110,041856,4808.285,-12540.644,27,1.1,27,18.0