version: 66.06
glider: 80
mission: 97
dive: 45
start: 1 22 110 16 35 47
data:
$ID,80
$MISSION,97
$DIVE,45
$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,-607564.5
$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,1
$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
$GPS1,163132,4755.505,-12618.354,17,1.1,17,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,163457,4755.505,-12618.354,18,1.1,19,18.0
$SPEED_LIMITS,0.098,0.262
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.261,-0.022
$KALMAN_X,16529.2,-202.5,-68.3,-64142.2,1107.1
$KALMAN_Y,-15918.7,139.4,83.4,-9301.1,-1045.4
$MHEAD_RNG_PITCHd_Wd,247.2,164467,-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,-44.60,0.000,2,0.000,0.000,848,1980,3172,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.5,-11.9,9,85,8.02,0.00,-8.65,0.000,6,0.004,0.000,2535,1980,3431,1,0,0,0,0,0
$GC,422,-0.99,-146.0,45.2,-9.2,73,426,0.80,0.00,0.00,0.000,6,0.005,0.000,2380,1979,3433,0,0,0,0,0,0
$GC,753,-0.99,-146.0,115.4,-19.8,118,755,0.38,0.00,0.00,0.000,6,0.004,0.000,2450,1978,3433,0,0,0,0,0,0
$GC,1072,-0.99,-146.0,158.2,-13.0,145,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1978,3432,0,0,0,0,0,0
$GC,1379,-0.99,-146.0,197.9,-12.7,160,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1981,3434,0,0,0,0,0,0
$GC,1689,-0.99,-146.0,236.5,-12.4,175,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1979,3432,0,0,0,0,0,0
$GC,1998,-0.99,-146.0,274.3,-12.2,190,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1980,3433,0,0,0,0,0,0
$GC,2346,-0.99,-146.0,316.1,-11.9,203,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1979,3433,0,0,0,0,0,0
$GC,2649,-0.99,-146.0,352.1,-11.8,208,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1981,3432,0,0,0,0,0,0
$GC,2952,-0.99,-146.0,387.7,-11.7,213,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1980,3432,0,0,0,0,0,0
$GC,3255,-0.99,-146.0,422.8,-11.6,218,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1981,3433,0,0,0,0,0,0
$GC,3558,-0.99,-146.0,457.6,-11.5,223,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1979,3430,0,0,0,0,0,0
$GC,3861,-0.99,-146.0,492.0,-11.4,228,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1983,3431,0,0,0,0,0,0
$STATE,3981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3981,begin apogee
$GC,3986,-0.23,0.0,505.6,11.3,230,4133,0.85,0.00,143.93,0.005,6,0.004,0.000,2613,1979,2836,0,0,0,0,0,0
$STATE,4134,end apogee,CONTROL_FINISHED_OK
$STATE,4134,begin climb
$GC,4136,0.99,146.0,509.5,0.0,232,4284,1.35,0.00,144.12,0.005,6,0.003,0.000,2877,1979,2242,0,0,0,0,0,0
$GC,4586,0.99,146.0,455.1,13.5,240,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1979,2243,0,0,0,0,0,0
$GC,4889,0.99,146.0,414.4,13.4,245,4890,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1980,2242,0,0,0,0,0,0
$GC,5192,0.99,146.0,374.2,13.2,250,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1978,2241,0,0,0,0,0,0
$GC,5495,0.99,146.0,334.3,13.1,255,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1979,2242,0,0,0,0,0,0
$GC,5798,0.99,146.0,294.8,13.0,260,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1980,2242,0,0,0,0,0,0
$GC,6109,0.99,146.0,255.1,12.8,275,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1981,2241,0,0,0,0,0,0
$GC,6417,0.99,146.0,216.0,12.5,290,6419,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1981,2243,0,0,0,0,0,0
$GC,6726,0.99,146.0,177.6,12.3,305,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1980,2241,0,0,0,0,0,0
$GC,7038,0.99,146.0,140.3,11.7,323,7039,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1981,2242,0,0,0,0,0,0
$GC,7357,0.99,146.0,104.2,10.9,353,7359,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1980,2244,0,0,0,0,0,0
$GC,7680,0.99,150.0,70.7,9.6,391,7690,0.00,0.00,5.30,0.005,6,0.000,0.000,2877,1979,2225,0,0,0,0,0,0
$GC,8028,1.05,191.8,39.9,7.9,453,8068,0.00,0.00,35.58,0.005,6,0.000,0.000,2877,1980,2055,0,0,0,0,0,0
$STATE,8404,end climb,SURFACE_DEPTH_REACHED
$STATE,8404,begin surface coast
$FINISH,-0.0,1.008360
$STATE,8420,end surface coast,CONTROL_FINISHED_OK
$STATE,8420,begin surface
$SM_CCo,8439,36.55,0.005,0,0,1817,250.21
$SM_GC,-0.00,0.00,0.00,36.55,0.000,0.000,0.005,852,1981,1817,-8.35,-0.20,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,24.99
$INTERNAL_PRESSURE,12.0024
$TCM_TEMP,15.00
$24V_AH,24.0,20.023
$10V_AH,9.8,4.226
$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,21.825,0.025,328.925,36.550,0.000,0.000,0.000,92.806,0.000,0.000,19.196,848.283,6743.597,438.632,461.803,200.129,33.358,827.404,0.000,414.530,0.000,0.000,0.000
$DEVICE_MAMPS,4.602,3.835,4.602,4.602,0.000,103.000,0.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,26.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,empty,nil
$SENSOR_SECS,420.916,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324096
$DATA_FILE_SIZE,15818,524
$CAP_FILE_SIZE,60548,0
$CFSIZE,260165632,255635456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,220110,185811,4755.059,-12620.064,32,1.1,32,18.0