version: 66.06
glider: 80
mission: 97
dive: 68
start: 1 24 110 23 49 20
data:
$ID,80
$MISSION,97
$DIVE,68
$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,-608107.12
$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,2
$R_STBD_OVSHOOT,1
$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
$GPS1,234458,4744.047,-12655.607,24,1.1,25,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,234827,4744.047,-12655.607,30,1.1,30,18.0
$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,-0.026
$KALMAN_X,31006.6,-173.5,-94.9,-124651.3,1164.8
$KALMAN_Y,-32459.4,229.1,223.9,-14211.0,-1257.1
$MHEAD_RNG_PITCHd_Wd,246.2,115193,-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,12,begin dive
$GC,14,-0.99,-145.9,0.0,0.0,0,62,0.00,0.00,-45.17,0.000,2,0.000,0.000,809,1983,3188,0,0,0,0,0,0
$GC,64,-0.99,-145.9,3.6,-12.5,9,85,8.68,0.00,-8.40,0.000,6,0.004,0.000,2490,1982,3445,3,0,0,0,0,0
$GC,421,-0.99,-145.9,56.9,-12.2,73,426,0.45,0.00,0.00,0.000,6,0.004,0.000,2425,1984,3444,0,0,0,0,0,0
$GC,757,-0.99,-145.9,113.5,-16.1,116,759,0.45,0.00,0.00,0.000,6,0.004,0.000,2498,1984,3443,0,0,0,0,0,0
$GC,1077,-0.99,-146.0,145.7,-9.7,146,1079,0.38,0.00,0.00,0.000,6,0.004,0.000,2429,1987,3444,0,0,0,0,0,0
$GC,1396,-0.99,-146.0,191.7,-14.4,163,1398,0.32,0.00,0.00,0.000,6,0.003,0.000,2501,1983,3443,0,0,0,0,0,0
$GC,1706,-0.99,-146.0,220.2,-9.1,178,1708,0.17,0.00,0.00,0.000,6,0.003,0.000,2436,1983,3445,0,0,0,0,0,0
$GC,2015,-0.99,-146.0,261.3,-13.4,193,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1983,3445,0,0,0,0,0,0
$GC,2324,-0.99,-146.0,302.1,-13.2,208,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1983,3443,0,0,0,0,0,0
$GC,2627,-0.99,-146.0,341.5,-13.0,213,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1981,3445,0,0,0,0,0,0
$GC,2930,-0.99,-146.0,380.3,-12.8,218,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1985,3444,0,0,0,0,0,0
$GC,3233,-0.99,-146.0,418.7,-12.6,223,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1982,3442,0,0,0,0,0,0
$GC,3537,-0.99,-146.0,456.7,-12.5,228,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,1983,3444,0,0,0,0,0,0
$GC,3840,-0.99,-146.0,494.4,-12.4,233,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1983,3444,0,0,0,0,0,0
$STATE,3898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3899,begin apogee
$GC,3903,-0.23,0.0,501.9,12.4,234,4053,0.73,0.00,146.30,0.005,6,0.004,0.000,2609,1982,2838,0,0,0,0,0,0
$STATE,4054,end apogee,CONTROL_FINISHED_OK
$STATE,4054,begin climb
$GC,4056,0.99,146.0,505.9,0.0,236,4204,1.48,0.00,143.98,0.005,6,0.004,0.000,2872,1985,2245,0,0,0,0,0,0
$GC,4504,0.99,146.0,453.3,13.1,244,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1985,2241,0,0,0,0,0,0
$GC,4807,0.99,146.0,413.7,13.0,249,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1984,2243,0,0,0,0,0,0
$GC,5110,0.99,146.0,374.5,13.0,254,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1984,2244,0,0,0,0,0,0
$GC,5413,0.99,146.0,335.6,12.8,259,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1982,2243,0,0,0,0,0,0
$GC,5716,0.99,146.0,297.1,12.7,264,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1981,2242,0,0,0,0,0,0
$GC,6025,0.99,146.0,258.3,12.5,279,6027,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1985,2243,0,0,0,0,0,0
$GC,6335,0.99,146.0,220.0,12.2,294,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1985,2244,0,0,0,0,0,0
$GC,6644,0.99,146.0,182.5,12.0,309,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1983,2244,0,0,0,0,0,0
$GC,6954,0.99,146.0,145.8,11.7,325,6955,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1982,2242,0,0,0,0,0,0
$GC,7274,0.99,146.0,110.1,10.9,355,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1985,2242,0,0,0,0,0,0
$GC,7594,0.99,146.0,76.8,10.0,387,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1986,2245,0,0,0,0,0,0
$GC,7936,1.03,182.2,46.1,8.2,448,7972,0.25,0.00,31.25,0.005,6,0.004,0.000,2947,1983,2094,0,0,0,0,0,0
$STATE,8256,end climb,SURFACE_DEPTH_REACHED
$STATE,8256,begin surface coast
$FINISH,-0.0,1.008360
$STATE,8268,end surface coast,CONTROL_FINISHED_OK
$STATE,8268,begin surface
$SM_CCo,8287,42.85,0.005,0,0,1820,250.21
$SM_GC,-0.00,0.00,0.00,42.85,0.000,0.000,0.005,835,1983,1820,-8.45,-0.11,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,28.14
$INTERNAL_PRESSURE,12.2954
$TCM_TEMP,15.00
$24V_AH,24.0,25.852
$10V_AH,9.8,4.807
$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,23.375,0.000,321.525,42.850,0.000,0.000,0.000,88.166,0.000,0.000,31.510,817.195,6640.671,441.978,448.854,195.378,33.357,818.039,0.000,390.065,0.000,0.000,0.000
$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,398.054,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324072
$DATA_FILE_SIZE,12749,508
$CAP_FILE_SIZE,60020,0
$CFSIZE,260165632,254951424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,250110,020853,4743.505,-12657.231,17,1.1,17,18.0