version: 66.05
glider: 80
mission: 10
dive: 399
start: 7 21 108 6 43 32
data:
$ID,80
$MISSION,10
$DIVE,399
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,65
$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,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-24316.188
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,30
$PITCH_MAX,4065
$C_PITCH,2692
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,10
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2069
$C_ROLL_CLIMB,2069
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,1
$R_STBD_OVSHOOT,1
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,10
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,188
$VBD_MAX,3616
$C_VBD,2473
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.16054545
$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,0
$XPDR_INHIBIT,90
$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
$SMARTS,1
$SMARTDEVICE1,3
$SMARTDEVICE2,-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,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$AR_RESETARS,0.0
$AR_RECORDBELOW,0.0
$AR_NOTIFYAPOGEE,0.0
$GPS1,063455,4805.759,-12221.664,16,1.1,16,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-50.0
$GPS2,064235,4805.734,-12221.622,38,1.1,38,18.0
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.062,-0.158
$KALMAN_X,13860.1,1.7,83.3,-11194.0,125.3
$KALMAN_Y,-2904.0,33.0,-52.2,-931.7,-74.6
$MHEAD_RNG_PITCHd_Wd,140.5,1562,-13.2,-6.000
$D_GRID,100
$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
$STATE,89,end surface,CONTROL_FINISHED_OK
$STATE,89,begin dive
$GC,92,-1.00,-146.6,0.0,0.0,0,164,0.00,0.00,-67.38,0.000,6,0.000,0.000,144,1970,3077
$GC,168,-1.00,-146.6,0.6,-0.7,7,189,11.57,2.78,0.00,0.000,4,0.004,0.004,2521,3610,3078
$GC,493,-1.00,-146.6,28.6,-6.8,36,499,0.30,2.78,0.00,0.000,6,0.004,0.004,2446,1968,3078
$GC,530,-1.00,-146.6,31.2,-7.0,39,533,0.30,0.00,0.00,0.000,6,0.004,0.000,2522,1968,3077
$GC,562,-1.00,-146.6,33.2,-6.5,42,564,0.35,0.00,0.00,0.000,6,0.003,0.000,2445,1968,3078
$GC,594,-1.00,-146.6,35.2,-6.3,45,600,0.40,2.65,0.00,0.000,4,0.004,0.004,2522,3619,3077
$GC,904,-1.00,-146.6,55.0,-6.5,72,910,0.35,2.78,0.00,0.000,6,0.004,0.004,2446,1879,3077
$GC,942,-1.00,-146.6,57.5,-6.8,75,944,0.30,0.00,0.00,0.000,6,0.004,0.000,2522,1878,3078
$GC,974,-1.00,-146.6,59.7,-6.6,78,976,0.30,0.00,0.00,0.000,6,0.004,0.000,2450,1878,3078
$GC,1006,-1.00,-146.6,61.7,-6.5,81,1008,0.43,0.00,0.00,0.000,6,0.003,0.000,2524,1879,3078
$GC,1038,-1.00,-146.6,63.8,-6.8,84,1040,0.35,0.00,0.00,0.000,6,0.004,0.000,2451,1878,3078
$GC,1069,-1.00,-146.6,65.9,-6.3,87,1071,0.38,0.00,0.00,0.000,6,0.003,0.000,2528,1878,3078
$GC,1101,-1.00,-146.6,68.1,-6.8,90,1103,0.52,0.00,0.00,0.000,6,0.004,0.000,2416,1879,3078
$GC,1133,-1.00,-146.6,70.2,-6.6,93,1135,0.68,0.00,0.00,0.000,6,0.003,0.000,2528,1879,3077
$GC,1165,-1.00,-146.6,72.4,-6.9,96,1168,0.57,0.00,0.00,0.000,6,0.004,0.000,2410,1879,3077
$GC,1197,-1.00,-146.6,74.5,-6.7,99,1199,0.60,0.00,0.00,0.000,6,0.003,0.000,2526,1878,3078
$GC,1228,-1.00,-146.6,76.6,-6.8,102,1235,0.57,2.83,0.00,0.000,4,0.004,0.004,2412,3611,3078
$STATE,1434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1434,begin apogee
$GC,1444,-0.31,0.0,90.2,6.4,120,1571,1.35,0.00,122.38,0.005,6,0.004,0.000,2669,1870,2472
$STATE,1572,end apogee,CONTROL_FINISHED_OK
$STATE,1572,begin climb
$GC,1575,1.00,146.6,91.9,0.0,133,1701,1.30,0.00,120.72,0.005,6,0.004,0.000,2932,1872,1875
$GC,1729,1.00,146.6,83.0,7.4,148,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1871,1874
$GC,1760,1.00,146.6,80.5,7.5,151,1765,0.00,2.90,0.00,0.000,4,0.000,0.004,2932,3618,1875
$GC,2029,1.00,146.6,60.2,8.3,174,2035,0.00,2.78,0.00,0.000,6,0.000,0.004,2931,1977,1875
$GC,2067,1.00,146.6,57.3,7.8,178,2069,0.40,0.00,0.00,0.000,6,0.004,0.000,2859,1978,1876
$GC,2099,1.00,146.6,55.0,7.5,181,2101,0.38,0.00,0.00,0.000,6,0.004,0.000,2935,1977,1875
$GC,2131,1.00,146.6,52.6,7.4,184,2133,0.30,0.00,0.00,0.000,6,0.003,0.000,2858,1976,1874
$GC,2162,1.00,146.6,50.4,6.9,187,2165,0.40,0.00,0.00,0.000,6,0.004,0.000,2971,1977,1875
$GC,2194,1.00,146.6,48.2,6.9,190,2200,0.45,2.65,0.00,0.000,4,0.004,0.004,2856,525,1875
$GC,2407,1.00,146.6,32.8,6.8,208,2414,0.45,3.15,0.00,0.000,6,0.004,0.004,2968,2259,1875
$GC,2445,1.00,146.6,30.2,7.1,212,2448,0.55,0.00,0.00,0.000,6,0.004,0.000,2858,2260,1877
$GC,2477,1.00,146.6,28.0,6.9,215,2479,0.50,0.00,0.00,0.000,6,0.003,0.000,2970,2259,1876
$GC,2509,1.00,146.6,25.8,6.9,218,2512,0.50,0.00,0.00,0.000,6,0.004,0.000,2855,2259,1875
$GC,2541,1.00,146.6,23.7,6.8,221,2543,0.47,0.00,0.00,0.000,6,0.004,0.000,2969,2260,1875
$GC,2573,1.00,146.6,21.5,6.8,224,2575,0.45,0.00,0.00,0.000,6,0.003,0.000,2854,2258,1875
$GC,2604,1.00,146.6,19.4,6.7,227,2610,0.57,2.15,0.00,0.000,4,0.004,0.004,2965,3607,1875
$GC,2783,1.00,146.6,7.3,6.9,242,2790,0.47,2.85,0.00,0.000,6,0.003,0.004,2853,1964,1875
$GC,2822,1.00,146.6,4.8,6.7,246,2824,0.45,0.00,0.00,0.000,6,0.003,0.000,2965,1965,1874
$GC,2853,1.00,146.6,2.8,6.5,249,2856,0.52,0.00,0.00,0.000,6,0.004,0.000,2853,1965,1875
$STATE,2872,end climb,SURFACE_DEPTH_REACHED
$STATE,2872,begin surface coast
$FINISH,0.9,0.997201
$STATE,2905,end surface coast,CONTROL_FINISHED_OK
$STATE,2905,begin surface
$SM_CCo,3002,175.75,0.004,23,0,1044,350.04
$SM_GC,-0.00,0.00,0.00,175.75,0.000,0.000,0.004,147,2205,1044,-11.71,3.90,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.048321
$HUMID,1630
$INTERNAL_PRESSURE,12.4809
$TCM_TEMP,15.00
$24V_AH,23.8,46.109
$10V_AH,9.7,43.173
$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,41.400,33.925,243.100,175.750,0.000,0.000,0.000,111.145,0.000,0.000,38.688,532.334,1557.575,671.275,395.683,623.929,33.372,1000.352,0.000,303.892,0.000,0.000,0.000
$DEVICE_MAMPS,3.835,3.835,4.602,3.835,0.000,103.000,0.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,26.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,198.332,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6432,254
$CAP_FILE_SIZE,80434,8
$CFSIZE,260165632,246075392
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,102,136,23,0
$GPS,210708,074022,4805.460,-12221.427,14,1.1,14,18.0