version: 66.06
glider: 80
mission: 97
dive: 16
start: 1 20 110 9 27 2
data:
$ID,80
$MISSION,97
$DIVE,16
$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,-606924.69
$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,0
$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
$GPS1,092257,4806.975,-12542.630,10,1.1,10,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,092611,4806.975,-12542.630,32,1.1,32,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.249,-0.084
$KALMAN_X,1985.5,256.7,-19.5,-5968.2,156.5
$KALMAN_Y,-547.4,-11.2,-41.6,-3148.3,-61.9
$MHEAD_RNG_PITCHd_Wd,233.3,213284,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.00,-146.0,0.0,0.0,0,67,0.00,0.00,-48.15,0.000,2,0.000,0.000,805,2112,3268,0,0,0,0,0,0
$GC,69,-1.00,-146.0,5.6,-28.4,10,90,8.12,3.35,-5.78,0.000,4,0.004,0.004,2498,342,3443,2,0,8,0,0,0
$GC,146,-1.00,-146.0,23.1,-12.9,24,152,0.43,3.10,0.00,0.000,6,0.003,0.004,2402,2087,3444,0,0,7,0,0,0
$STATE,473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,473,begin apogee
$GC,478,-0.23,0.0,90.6,19.0,78,606,1.20,0.00,122.88,0.005,6,0.004,0.000,2671,1901,2838,0,0,0,0,0,0
$STATE,606,end apogee,CONTROL_FINISHED_OK
$STATE,607,begin climb
$GC,609,1.00,146.0,99.7,0.0,91,741,0.95,2.65,119.82,0.005,4,0.004,0.004,2892,3454,2241,0,0,7,0,0,0
$GC,768,1.00,146.0,90.1,11.3,106,774,0.00,2.47,0.00,0.000,6,0.000,0.003,2892,1908,2242,0,0,6,0,0,0
$GC,1106,1.02,156.6,55.5,9.5,158,1121,0.00,0.00,10.93,0.005,6,0.000,0.000,2892,1908,2193,0,0,0,0,0,0
$GC,1458,1.04,175.5,23.7,9.1,221,1483,0.00,2.78,16.55,0.005,4,0.000,0.004,2893,3519,2123,0,0,7,0,0,0
$GC,1511,1.04,175.5,18.6,10.0,231,1516,0.00,3.05,0.00,0.000,6,0.000,0.004,2893,1753,2123,0,0,5,0,0,0
$STATE,1673,end climb,SURFACE_DEPTH_REACHED
$STATE,1674,begin surface coast
$FINISH,0.5,1.008360
$STATE,1689,end surface coast,CONTROL_FINISHED_OK
$STATE,1689,begin surface
$SM_CCo,1708,47.47,0.005,0,0,1817,250.70
$SM_GC,0.00,0.00,0.00,47.47,0.000,0.000,0.005,867,2198,1817,-8.30,5.94,250.70
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,28.34
$INTERNAL_PRESSURE,12.0024
$TCM_TEMP,15.00
$24V_AH,24.0,14.171
$10V_AH,9.8,3.555
$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,20.875,18.550,270.175,47.475,0.000,0.000,0.000,78.998,0.000,0.000,32.552,402.346,765.848,375.641,267.785,146.419,33.347,606.501,0.000,235.738,0.000,0.000,0.000
$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,199.442,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324160
$DATA_FILE_SIZE,6453,263
$CAP_FILE_SIZE,36462,0
$CFSIZE,260165632,256499712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,43,0,0
$GPS,200110,095659,4806.830,-12542.829,13,1.1,13,18.0