version: 66.06
glider: 80
mission: 97
dive: 18
start: 1 20 110 10 34 47
data:
$ID,80
$MISSION,97
$DIVE,18
$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,-606973.25
$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
$GPS1,103044,4806.695,-12543.040,15,1.1,15,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,103356,4806.695,-12543.040,27,1.1,27,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.253,-0.073
$KALMAN_X,2380.7,244.8,-6.1,-6870.8,150.3
$KALMAN_Y,-779.1,-27.0,-34.5,-3428.2,-90.8
$MHEAD_RNG_PITCHd_Wd,235.9,212561,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.00,-146.0,0.0,0.0,0,64,0.00,0.00,-45.25,0.000,2,0.000,0.000,812,2083,3196,0,0,0,0,0,0
$GC,66,-1.00,-146.0,4.1,-19.7,9,92,7.88,3.55,-7.65,0.000,4,0.004,0.004,2456,375,3432,2,0,7,0,0,0
$GC,119,-1.00,-146.0,19.2,-16.0,19,125,0.00,2.92,0.00,0.000,6,0.000,0.004,2456,2042,3433,0,0,7,0,0,0
$GC,461,-1.00,-146.0,73.1,-14.6,80,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2042,3433,0,0,0,0,0,0
$STATE,584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,584,begin apogee
$GC,589,-0.23,0.0,90.8,14.0,96,716,0.95,0.00,120.10,0.005,6,0.004,0.000,2617,1854,2839,1,0,0,0,0,0
$STATE,717,end apogee,CONTROL_FINISHED_OK
$STATE,717,begin climb
$GC,719,1.00,146.0,96.1,0.0,109,847,1.40,0.00,120.60,0.005,6,0.004,0.000,2879,1854,2242,1,0,0,0,0,0
$GC,1178,1.04,176.1,59.2,8.6,171,1213,0.00,2.95,26.00,0.005,4,0.000,0.004,2880,3530,2119,0,0,7,0,0,0
$GC,1252,1.04,176.1,51.7,10.5,185,1257,0.00,2.65,0.00,0.000,6,0.000,0.004,2880,1960,2119,0,0,5,0,0,0
$GC,1594,1.06,190.0,19.1,9.4,246,1609,0.00,0.00,13.52,0.005,6,0.000,0.000,2879,1959,2061,0,0,0,0,0,0
$STATE,1759,end climb,SURFACE_DEPTH_REACHED
$STATE,1759,begin surface coast
$FINISH,0.2,1.008360
$STATE,1777,end surface coast,CONTROL_FINISHED_OK
$STATE,1777,begin surface
$SM_CCo,1795,37.50,0.005,0,0,1818,250.45
$SM_GC,0.00,0.00,0.00,37.50,0.000,0.000,0.005,855,2159,1818,-8.34,4.89,250.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,28.18
$INTERNAL_PRESSURE,11.9926
$TCM_TEMP,15.00
$24V_AH,24.0,14.298
$10V_AH,9.8,3.585
$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,20.150,12.900,280.225,37.500,0.000,0.000,0.000,79.841,0.000,0.000,28.085,415.588,823.730,379.539,262.789,150.661,33.345,603.728,0.000,232.875,0.000,0.000,0.000
$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,211.097,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324152
$DATA_FILE_SIZE,6446,279
$CAP_FILE_SIZE,35995,0
$CFSIZE,260165632,256450560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,28,0,0
$GPS,200110,110557,4806.555,-12543.307,9,1.1,10,18.0