version: 66.08
glider: 124
mission: 10
dive: 4
start: 7 8 110 18 18 3
data:
$ID,124
$MISSION,10
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,200
$D_NO_BLEED,50
$D_BOOST,3
$T_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,40
$T_MISSION,55
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51430
$NAV_MODE,0
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.00229
$HD_B,0.0132
$HD_C,2.53e-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,705.5401
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-300181.62
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3900
$C_PITCH,2130
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,183
$ROLL_MAX,3883
$ROLL_DEG,40
$C_ROLL_DIVE,2033
$C_ROLL_CLIMB,2033
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,244
$VBD_MAX,3759
$C_VBD,3161
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.00134
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,143.39999
$AH0_10V,95.300003
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,80.53624
$FG_AHR_24V,10.37118
$PHONE_SUPPLY,2
$PRESSURE_YINT,-24.644941
$PRESSURE_SLOPE,0.0001163584
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,5
$DEVICE1,2
$DEVICE2,100
$DEVICE3,37
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,83
$LOGGERDEVICE2,102
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.00441095
$SEABIRD_T_H,0.00065317168
$SEABIRD_T_I,2.7851496e-05
$SEABIRD_T_J,3.1184245e-06
$SEABIRD_C_G,-9.9659796
$SEABIRD_C_H,1.1315508
$SEABIRD_C_I,-0.0013034767
$SEABIRD_C_J,0.00017185711
$TM_RECORDABOVE,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_UPLOADMAX,40000.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,10.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,3.0
$LA_XMITPROFILE,0.0
$LA_UPLOADMAX,0.0
$GPS1,080710,181308,4743.021,-12224.633,14,2.0,14,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-66.8
$GPS2,080710,181732,4742.943,-12224.666,14,2.0,14,18.2
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,319.8,1112,-18.7,-10.000
$D_GRID,177
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-0.82,-146.6,0.0,0.0,0,113,0.00,0.00,-86.03,0.000,2,0.007,0.000,32,2033,2250,0,0,0,0,0,0
$GC,114,-0.82,-146.6,3.0,-3.1,13,197,8.02,2.30,-60.42,0.000,4,0.267,0.060,1943,3448,3757,0,0,0,0,0,0
$GC,323,-0.87,-146.6,24.2,-16.0,48,340,0.00,2.25,0.00,0.015,6,0.015,0.060,1943,2028,3758,0,0,0,0,0,0
$GC,648,-0.87,-146.6,68.4,-14.2,109,665,0.00,2.30,0.00,0.007,4,0.007,0.078,1943,3442,3759,0,0,0,0,0,0
$GC,885,-0.97,-146.6,98.5,-13.6,153,902,0.08,2.25,0.00,0.067,6,0.067,0.066,1892,2024,3761,0,0,0,0,0,0
$STATE,1015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1015,begin apogee
$GC,1018,-0.17,0.0,121.0,18.1,165,1129,0.55,0.00,103.65,0.642,6,0.107,0.635,2093,2019,3162,0,0,0,0,0,0
$STATE,1144,end apogee,CONTROL_FINISHED_OK
$STATE,1144,begin climb
$GC,1144,0.82,146.6,125.3,0.0,174,1270,0.55,2.30,104.55,0.636,4,0.066,0.067,2322,623,2562,0,0,0,0,0,0
$GC,1372,0.77,170.5,113.9,8.8,193,1399,0.08,2.33,18.25,0.564,6,0.022,0.045,2296,2044,2464,0,0,0,0,0,0
$GC,1715,0.82,210.1,91.0,8.1,237,1759,0.00,0.00,28.92,0.584,6,0.007,0.613,2294,2044,2301,0,0,0,0,0,0
$GC,2068,0.89,227.1,62.4,9.2,302,2099,0.08,0.00,13.12,0.644,6,0.001,0.503,2346,2045,2234,0,0,0,0,0,0
$GC,2409,0.83,227.1,24.5,11.2,365,2426,0.10,0.00,0.00,0.007,6,0.007,0.009,2308,2045,2232,0,0,0,0,0,0
$STATE,2727,end climb,SURFACE_DEPTH_REACHED
$STATE,2727,begin surface coast
$FINISH,1.5,1.020115
$STATE,2797,end surface coast,CONTROL_FINISHED_OK
$STATE,2797,begin surface
$SM_CCo,2826,204.40,0.061,0,0,284,705.73
$SM_GC,2.46,0.00,0.00,204.40,0.007,0.014,0.061,32,2045,284,-9.65,0.34,705.73
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,4726.11,-12222.38,080710,171726
$HUMID,47.39
$INTERNAL_PRESSURE,9.70585
$TCM_TEMP,15.60
$XPDR_PINGS,11
$24V_AH,24.6,2.436
$10V_AH,10.2,4.098
$FG_AHR_24Vo,10.429
$FG_AHR_10Vo,80.683
$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,15.375,13.725,268.500,204.400,0.000,27.358,14.704,120.314,2.750,0.000,15.273,973.847,198.218,564.606,1516.146,67.031,0.000,774.463,0.000,1243.402,0.000,0.536,0.000
$DEVICE_MAMPS,267.313,78.345,643.505,61.051,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,254.280,1190.861,1119.177,0.000,0.000,0.000,2856.439,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,322120
$DATA_FILE_SIZE,26949,438
$CAP_FILE_SIZE,45959,0
$CFSIZE,260280320,254324736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080710,190952,4742.874,-12225.008,15,2.3,34,18.2