version: 66.06
glider: 80
mission: 97
dive: 31
start: 1 21 110 6 44 53
data:
$ID,80
$MISSION,97
$DIVE,31
$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,-607242.56
$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
$GPS1,064040,4801.335,-12554.875,6,1.1,6,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,064402,4801.335,-12554.875,20,1.1,20,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.260,-0.032
$KALMAN_X,9195.1,-447.8,11.8,-27632.2,1140.2
$KALMAN_Y,-6004.8,-44.5,3.3,-8150.5,-781.1
$MHEAD_RNG_PITCHd_Wd,245.0,194628,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.99,-146.0,0.0,0.0,0,62,0.00,0.00,-44.78,0.000,2,0.000,0.000,853,1981,3176,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.6,-12.5,9,85,7.85,0.00,-8.60,0.000,6,0.004,0.000,2484,1982,3431,6,0,0,0,0,0
$GC,421,-0.99,-146.0,57.6,-12.6,73,426,0.32,0.00,0.00,0.000,6,0.004,0.000,2413,1982,3430,0,0,0,0,0,0
$GC,756,-0.99,-146.0,117.4,-16.8,115,758,0.50,0.00,0.00,0.000,6,0.004,0.000,2484,1981,3429,1,0,0,0,0,0
$GC,1075,-0.99,-146.0,152.4,-10.6,144,1078,0.47,0.00,0.00,0.000,6,0.004,0.000,2421,1979,3431,1,0,0,0,0,0
$GC,1385,-0.99,-146.0,199.0,-15.0,159,1387,0.22,0.00,0.00,0.000,6,0.003,0.000,2496,1980,3431,0,0,0,0,0,0
$GC,1693,-0.99,-146.0,228.5,-9.3,174,1695,0.38,0.00,0.00,0.000,6,0.004,0.000,2422,1982,3432,0,0,0,0,0,0
$GC,2002,-0.99,-146.0,272.2,-14.1,189,2004,0.30,0.00,0.00,0.000,6,0.004,0.000,2493,1981,3431,0,0,0,0,0,0
$GC,2312,-0.99,-146.0,300.9,-9.2,204,2314,0.28,0.00,0.00,0.000,6,0.004,0.000,2427,1980,3431,0,0,0,0,0,0
$GC,2615,-0.99,-146.0,341.4,-13.5,209,2617,0.32,0.00,0.00,0.000,6,0.004,0.000,2496,1980,3429,0,0,0,0,0,0
$GC,2918,-0.99,-146.0,368.2,-8.8,214,2920,0.25,0.00,0.00,0.000,6,0.004,0.000,2428,1982,3430,0,0,0,0,0,0
$GC,3221,-0.99,-146.0,407.6,-13.1,219,3223,0.30,0.00,0.00,0.000,6,0.004,0.000,2506,1981,3431,0,0,0,0,0,0
$GC,3524,-0.99,-146.0,432.3,-8.1,224,3527,0.47,0.00,0.00,0.000,6,0.003,0.000,2431,1983,3431,1,0,0,0,0,0
$GC,3828,-0.99,-146.0,470.1,-12.6,229,3830,0.38,0.00,0.00,0.000,6,0.004,0.000,2498,1983,3429,0,0,0,0,0,0
$GC,4131,-0.99,-146.0,495.7,-8.4,234,4133,0.40,0.00,0.00,0.000,6,0.004,0.000,2426,1981,3431,0,0,0,0,0,0
$STATE,4189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4189,begin apogee
$GC,4194,-0.23,0.0,503.0,9.1,235,4340,1.40,0.00,142.27,0.005,6,0.004,0.000,2693,1979,2840,2,0,0,0,0,0
$STATE,4341,end apogee,CONTROL_FINISHED_OK
$STATE,4341,begin climb
$GC,4343,0.99,146.0,509.3,0.0,237,4492,1.45,0.00,144.90,0.005,6,0.004,0.000,2956,1981,2240,1,0,0,0,0,0
$GC,4794,0.99,146.0,428.9,20.2,245,4796,0.22,0.00,0.00,0.000,6,0.003,0.000,2883,1981,2242,0,0,0,0,0,0
$GC,5097,0.99,146.0,386.4,13.8,250,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1979,2241,0,0,0,0,0,0
$GC,5400,0.99,146.0,344.9,13.7,255,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1982,2240,0,0,0,0,0,0
$GC,5703,0.99,146.0,303.7,13.6,260,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1979,2242,0,0,0,0,0,0
$GC,6012,0.99,146.0,262.5,13.3,273,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1983,2242,0,0,0,0,0,0
$GC,6321,0.99,146.0,221.8,13.1,288,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1983,2241,0,0,0,0,0,0
$GC,6630,0.99,146.0,182.0,12.6,303,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1981,2241,0,0,0,0,0,0
$GC,6941,0.99,146.0,143.2,12.2,320,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1981,2242,0,0,0,0,0,0
$GC,7261,0.99,146.0,105.7,11.4,350,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1980,2243,0,0,0,0,0,0
$GC,7582,0.99,146.0,71.1,9.9,387,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1981,2241,0,0,0,0,0,0
$GC,7924,1.04,188.4,40.8,7.9,448,7965,0.00,0.00,36.22,0.005,6,0.000,0.000,2883,1981,2071,0,0,0,0,0,0
$STATE,8301,end climb,SURFACE_DEPTH_REACHED
$STATE,8301,begin surface coast
$FINISH,0.3,1.008359
$STATE,8318,end surface coast,CONTROL_FINISHED_OK
$STATE,8318,begin surface
$SM_CCo,8336,38.85,0.005,0,0,1819,250.21
$SM_GC,0.00,0.00,0.00,38.85,0.000,0.000,0.005,848,1980,1819,-8.38,-0.08,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,21.60
$INTERNAL_PRESSURE,11.9145
$TCM_TEMP,15.00
$24V_AH,24.0,16.451
$10V_AH,9.8,3.866
$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,25.625,0.000,323.400,38.850,0.000,0.000,0.000,87.180,0.000,0.000,22.699,839.875,6638.809,441.482,466.495,194.402,33.326,828.378,0.000,417.556,0.000,0.000,0.000
$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,423.709,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324164
$DATA_FILE_SIZE,15876,519
$CAP_FILE_SIZE,61669,0
$CFSIZE,260165632,256057344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,12,0,0,0
$GPS,210110,090515,4800.908,-12556.555,19,1.1,19,18.0