version: 66.06
glider: 80
mission: 97
dive: 51
start: 1 23 110 7 3 5
data:
$ID,80
$MISSION,97
$DIVE,51
$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,-607695.44
$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,3
$R_STBD_OVSHOOT,3
$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
$GPS1,065847,4752.482,-12628.091,26,1.1,26,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-70.0
$GPS2,070214,4752.482,-12628.091,10,1.1,10,18.0
$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,-0.019
$KALMAN_X,20007.5,-59.5,-15.8,-79845.8,1046.5
$KALMAN_Y,-19451.9,277.2,126.6,-11544.0,-1183.1
$MHEAD_RNG_PITCHd_Wd,247.7,151405,-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,12,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,-44.70,0.000,2,0.000,0.000,817,1990,3182,0,0,0,0,0,0
$GC,64,-0.99,-146.0,3.7,-12.9,9,90,8.30,2.67,-8.65,0.000,4,0.004,0.004,2528,401,3447,0,0,7,0,0,0
$GC,106,-0.99,-146.0,15.4,-10.1,17,116,0.43,3.58,0.00,0.000,6,0.004,0.004,2440,2227,3446,0,0,8,0,0,0
$GC,452,-0.99,-146.0,74.2,-16.2,79,458,0.00,3.12,0.00,0.000,4,0.000,0.004,2443,354,3445,0,0,6,0,0,0
$GC,501,-0.99,-146.0,82.1,-15.5,87,507,0.00,2.97,0.00,0.000,6,0.000,0.003,2441,2072,3446,0,0,8,0,0,0
$GC,827,-0.99,-146.0,130.3,-14.2,118,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2070,3445,0,0,0,0,0,0
$GC,1140,-0.99,-146.0,174.0,-13.6,140,1145,0.00,2.72,0.00,0.000,4,0.000,0.004,2441,473,3446,0,0,5,0,0,0
$GC,1178,-0.99,-146.0,179.2,-13.4,142,1183,0.00,3.08,0.00,0.000,6,0.000,0.004,2441,1993,3446,0,0,6,0,0,0
$GC,1503,-0.99,-146.0,222.8,-13.2,158,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1991,3448,0,0,0,0,0,0
$GC,1813,-0.99,-146.0,263.1,-12.9,173,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1991,3445,0,0,0,0,0,0
$GC,2162,-0.99,-146.0,308.0,-12.7,188,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1991,3445,0,0,0,0,0,0
$GC,2465,-0.99,-146.0,346.4,-12.6,193,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1992,3448,0,0,0,0,0,0
$GC,2768,-0.99,-146.0,384.2,-12.5,198,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1992,3446,0,0,0,0,0,0
$GC,3071,-0.99,-146.0,421.6,-12.3,203,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1992,3448,0,0,0,0,0,0
$GC,3374,-0.99,-146.0,458.6,-12.2,208,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1993,3446,0,0,0,0,0,0
$GC,3677,-0.99,-146.0,495.3,-12.1,213,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1993,3446,0,0,0,0,0,0
$STATE,3736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3736,begin apogee
$GC,3741,-0.23,0.0,502.5,12.0,214,3891,1.10,0.00,146.25,0.005,6,0.004,0.000,2700,1993,2838,0,0,0,0,0,0
$STATE,3892,end apogee,CONTROL_FINISHED_OK
$STATE,3892,begin climb
$GC,3894,0.99,146.0,508.7,0.0,216,4043,1.33,0.00,143.75,0.005,6,0.004,0.000,2971,1991,2240,0,0,0,0,0,0
$GC,4341,0.99,146.0,422.6,21.8,224,4343,0.45,0.00,0.00,0.000,6,0.004,0.000,2896,1994,2242,0,0,0,0,0,0
$GC,4644,0.99,146.0,377.3,14.9,229,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1992,2240,0,0,0,0,0,0
$GC,4949,0.99,146.0,332.7,14.7,234,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1991,2240,0,0,0,0,0,0
$GC,5252,0.99,146.0,288.5,14.5,241,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1991,2240,0,0,0,0,0,0
$GC,5561,0.99,146.0,244.3,14.2,256,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1992,2241,0,0,0,0,0,0
$GC,5870,0.99,146.0,200.8,14.0,271,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1991,2240,0,0,0,0,0,0
$GC,6180,0.99,146.0,158.5,13.6,286,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1993,2240,0,0,0,0,0,0
$GC,6496,0.99,146.0,117.4,12.5,312,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1992,2239,0,0,0,0,0,0
$GC,6816,0.99,146.0,79.2,11.5,342,6821,0.00,3.60,0.00,0.000,4,0.000,0.004,2895,446,2240,0,0,7,0,0,0
$GC,6837,0.99,146.0,76.7,11.4,346,6843,0.00,3.38,0.00,0.000,6,0.000,0.004,2896,2099,2240,0,0,7,0,0,0
$GC,7180,1.02,169.0,42.6,8.8,407,7206,0.00,2.75,20.48,0.005,4,0.000,0.004,2896,394,2148,0,0,6,0,0,0
$GC,7228,1.02,169.0,37.9,10.3,416,7233,0.00,3.05,0.00,0.000,6,0.000,0.004,2896,2153,2150,0,0,6,0,0,0
$GC,7570,1.02,169.0,4.2,10.3,477,7575,0.00,2.92,0.00,0.000,4,0.000,0.004,2896,350,2148,0,0,7,0,0,0
$STATE,7590,end climb,SURFACE_DEPTH_REACHED
$STATE,7590,begin surface coast
$FINISH,0.7,1.008359
$STATE,7602,end surface coast,CONTROL_FINISHED_OK
$STATE,7602,begin surface
$SM_CCo,7624,50.97,0.005,0,0,1819,250.45
$SM_GC,0.00,0.00,0.00,50.97,0.000,0.000,0.005,872,2128,1819,-8.27,4.04,250.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,26.92
$INTERNAL_PRESSURE,12.188
$TCM_TEMP,15.00
$24V_AH,24.0,21.550
$10V_AH,9.8,4.378
$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,21.625,36.825,310.475,50.975,0.000,0.000,0.000,98.355,0.000,0.000,10.869,801.024,5987.711,470.443,425.156,208.876,33.353,845.727,0.000,390.579,0.000,0.000,0.000
$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,386.229,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324112
$DATA_FILE_SIZE,12738,483
$CAP_FILE_SIZE,63343,0
$CFSIZE,260165632,255442944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,80,0,0
$GPS,230110,091159,4751.984,-12629.584,23,1.1,23,18.0