version: 66.06
glider: 80
mission: 97
dive: 54
start: 1 23 110 14 0 4
data:
$ID,80
$MISSION,97
$DIVE,54
$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,-607762.19
$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,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
$GPS1,135548,4751.050,-12632.819,10,1.1,10,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,135914,4751.050,-12632.819,18,1.1,19,18.0
$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,-0.009
$KALMAN_X,22174.3,-41.8,-120.9,-87766.9,1129.3
$KALMAN_Y,-21550.6,59.7,57.2,-11811.5,-1256.8
$MHEAD_RNG_PITCHd_Wd,250.0,145134,-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,-146.0,0.0,0.0,0,63,0.00,0.00,-45.38,0.000,2,0.000,0.000,832,2143,3194,0,0,0,0,0,0
$GC,65,-0.99,-146.0,4.1,-14.7,9,87,7.95,2.90,-7.62,0.000,4,0.004,0.004,2477,523,3433,4,0,6,0,0,0
$GC,143,-0.99,-146.0,23.0,-14.3,23,148,0.00,2.90,0.00,0.000,6,0.000,0.004,2476,1991,3434,0,0,5,0,0,0
$GC,485,-0.99,-146.0,70.0,-13.0,84,490,0.43,0.00,0.00,0.000,6,0.004,0.000,2402,1991,3433,0,0,0,0,0,0
$GC,816,-0.99,-146.0,130.8,-17.5,120,818,0.28,0.00,0.00,0.000,6,0.004,0.000,2471,1991,3432,0,0,0,0,0,0
$GC,1141,-0.99,-146.0,169.0,-11.4,143,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1991,3432,0,0,0,0,0,0
$GC,1450,-0.99,-146.0,204.0,-11.2,158,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1990,3432,0,0,0,0,0,0
$GC,1759,-0.99,-146.0,238.2,-11.0,173,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1992,3434,0,0,0,0,0,0
$GC,2068,-0.99,-146.0,271.8,-10.8,188,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1991,3432,0,0,0,0,0,0
$GC,2397,-0.99,-146.0,307.0,-10.6,202,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1991,3433,0,0,0,0,0,0
$GC,2700,-0.99,-146.0,339.1,-10.6,207,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1991,3432,0,0,0,0,0,0
$GC,3003,-0.99,-146.0,370.9,-10.5,212,3009,0.00,3.38,0.00,0.000,4,0.000,0.004,2469,330,3431,0,0,8,0,0,0
$GC,3024,-0.99,-146.0,373.1,-10.6,212,3028,0.00,2.58,0.00,0.000,6,0.000,0.003,2468,1989,3431,0,0,6,0,0,0
$GC,3368,-0.99,-146.0,408.5,-10.3,218,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1989,3433,0,0,0,0,0,0
$GC,3670,-0.99,-146.0,439.5,-10.3,223,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1988,3433,0,0,0,0,0,0
$GC,3973,-0.99,-146.0,470.4,-10.2,228,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1988,3431,0,0,0,0,0,0
$STATE,4274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4274,begin apogee
$GC,4279,-0.23,0.0,501.0,10.1,233,4426,0.70,0.00,143.55,0.005,6,0.004,0.000,2640,1988,2839,0,0,0,0,0,0
$STATE,4427,end apogee,CONTROL_FINISHED_OK
$STATE,4427,begin climb
$GC,4429,0.99,146.0,504.2,0.0,235,4577,1.27,0.00,142.40,0.005,6,0.004,0.000,2902,1990,2244,0,0,0,0,0,0
$GC,4879,0.99,146.0,441.4,15.6,243,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1988,2243,0,0,0,0,0,0
$GC,5183,0.99,146.0,394.5,15.4,248,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1987,2241,0,0,0,0,0,0
$GC,5486,0.99,146.0,348.2,15.3,253,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1988,2244,0,0,0,0,0,0
$GC,5789,0.99,146.0,302.4,15.1,258,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1989,2242,0,0,0,0,0,0
$GC,6097,0.99,146.0,256.5,14.8,271,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1989,2244,0,0,0,0,0,0
$GC,6406,0.99,146.0,211.2,14.5,286,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1988,2243,0,0,0,0,0,0
$GC,6716,0.99,146.0,167.1,14.0,301,6720,0.00,2.72,0.00,0.000,4,0.000,0.004,2901,439,2243,0,0,9,0,0,0
$GC,6736,0.99,146.0,164.1,14.4,302,6741,0.00,2.72,0.00,0.000,6,0.000,0.003,2902,2010,2243,0,0,7,0,0,0
$GC,7064,0.99,146.0,119.9,13.3,328,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2007,2244,0,0,0,0,0,0
$GC,7383,0.99,146.0,80.2,12.1,358,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2010,2245,0,0,0,0,0,0
$GC,7719,1.01,159.5,44.8,9.2,417,7734,0.00,0.00,13.62,0.005,6,0.000,0.000,2904,2009,2187,0,0,0,0,0,0
$GC,8071,1.01,163.6,11.0,9.6,480,8082,0.00,2.45,5.47,0.005,4,0.000,0.004,2904,558,2169,0,0,4,0,0,0
$GC,8105,1.01,164.6,7.8,9.8,486,8110,0.00,2.83,0.00,0.000,6,0.000,0.004,2903,2107,2167,0,0,6,0,0,0
$STATE,8158,end climb,SURFACE_DEPTH_REACHED
$STATE,8158,begin surface coast
$FINISH,0.5,1.008360
$STATE,8176,end surface coast,CONTROL_FINISHED_OK
$STATE,8176,begin surface
$SM_CCo,8196,54.00,0.005,0,0,1819,250.21
$SM_GC,0.00,0.00,0.00,54.00,0.000,0.000,0.005,863,1905,1819,-8.32,-2.23,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.027612
$HUMID,32.79
$INTERNAL_PRESSURE,12.2856
$TCM_TEMP,15.00
$24V_AH,24.0,22.284
$10V_AH,9.8,4.452
$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,20.750,22.725,305.050,54.000,0.000,0.000,0.000,92.536,0.000,0.000,19.138,832.683,6525.870,453.393,454.647,200.452,33.357,840.873,0.000,409.080,0.000,0.000,0.000
$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,400.176,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324064
$DATA_FILE_SIZE,12738,499
$CAP_FILE_SIZE,63973,0
$CFSIZE,260165632,255356928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,7,52,0,0
$GPS,230110,161844,4750.631,-12634.462,34,1.1,34,18.0