version: 66.05
glider: 80
mission: 10
dive: 341
start: 7 18 108 17 58 18
data:
$ID,80
$MISSION,10
$DIVE,341
$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,40
$T_MISSION,60
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$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,-22921.668
$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
$GPS1,175024,4807.686,-12223.581,17,1.1,18,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,175728,4807.684,-12223.579,35,1.1,35,18.0
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,50.000
$KALMAN_CONTROL,0.096,-0.216
$KALMAN_X,10329.9,122.1,35.4,-10154.3,20.6
$KALMAN_Y,-4548.3,-73.3,-91.3,4473.3,73.1
$MHEAD_RNG_PITCHd_Wd,138.0,1455,-14.0,-7.500
$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,90,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,94,-1.06,-146.6,0.0,0.0,0,165,0.00,0.00,-67.57,0.000,6,0.000,0.000,146,1978,3080
$GC,169,-1.06,-146.6,0.8,-1.0,7,190,11.75,2.28,0.00,0.000,4,0.004,0.003,2517,548,3080
$GC,430,-1.06,-146.6,26.3,-7.9,30,438,0.47,2.65,0.00,0.000,6,0.003,0.004,2405,2199,3081
$GC,470,-1.06,-146.6,29.1,-7.8,34,473,0.57,0.00,0.00,0.000,6,0.003,0.000,2520,2199,3079
$GC,500,-1.06,-146.6,31.2,-6.9,37,503,0.47,0.00,0.00,0.000,6,0.004,0.000,2411,2197,3081
$GC,534,-1.06,-146.6,33.4,-6.8,40,536,0.40,0.00,0.00,0.000,6,0.003,0.000,2486,2199,3080
$GC,564,-1.06,-146.6,35.7,-7.3,43,566,0.35,0.00,0.00,0.000,6,0.003,0.000,2415,2197,3081
$GC,597,-1.06,-146.6,37.9,-6.7,46,599,0.40,0.00,0.00,0.000,6,0.004,0.000,2492,2198,3080
$GC,627,-1.06,-146.6,40.1,-7.2,49,629,0.38,0.00,0.00,0.000,6,0.004,0.000,2419,2199,3080
$GC,660,-1.06,-146.6,42.4,-7.1,52,665,0.30,2.53,0.00,0.000,4,0.004,0.004,2459,3652,3080
$GC,969,-1.06,-146.6,64.1,-6.9,79,975,0.00,3.08,0.00,0.000,6,0.000,0.004,2462,1903,3080
$GC,1007,-1.06,-146.6,66.7,-7.0,82,1013,0.00,2.97,0.00,0.000,4,0.000,0.004,2462,3581,3079
$GC,1317,-1.06,-146.6,88.8,-6.8,109,1322,0.00,2.90,0.00,0.000,6,0.000,0.004,2462,1949,3080
$STATE,1341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1341,begin apogee
$GC,1348,-0.31,0.0,90.5,6.5,111,1475,0.90,0.00,122.30,0.005,6,0.005,0.000,2610,2258,2475
$STATE,1476,end apogee,CONTROL_FINISHED_OK
$STATE,1476,begin climb
$GC,1479,1.06,146.6,92.1,0.0,124,1606,1.58,0.00,121.18,0.005,6,0.004,0.000,2952,2257,1874
$GC,1637,1.06,147.1,83.4,7.5,140,1640,0.32,0.00,0.00,0.000,6,0.004,0.000,2916,2258,1874
$GC,1669,1.07,154.0,81.1,7.3,143,1679,0.00,0.00,7.80,0.004,6,0.000,0.000,2914,2258,1844
$GC,1711,1.07,160.8,78.1,7.3,147,1721,0.00,0.00,7.78,0.004,6,0.000,0.000,2915,2258,1816
$GC,1753,1.08,164.7,75.0,7.4,151,1764,0.00,2.15,5.03,0.004,4,0.000,0.004,2914,3590,1802
$GC,1934,1.08,164.7,62.0,7.9,167,1939,0.00,2.60,0.00,0.000,6,0.000,0.004,2912,1936,1801
$GC,1972,1.08,164.7,59.0,8.0,170,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1936,1802
$GC,2004,1.09,174.7,56.7,7.2,173,2016,0.00,0.00,10.23,0.004,6,0.000,0.000,2915,1937,1760
$GC,2046,1.10,184.4,53.8,7.2,177,2057,0.00,0.00,9.62,0.005,6,0.000,0.000,2916,1934,1721
$GC,2087,1.10,184.4,50.6,7.5,181,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1937,1721
$GC,2121,1.12,198.8,48.5,7.0,184,2139,0.00,0.00,13.75,0.005,6,0.000,0.000,2914,1935,1661
$GC,2172,1.13,209.7,44.7,7.1,189,2186,0.38,0.00,10.80,0.005,6,0.003,0.000,2989,1936,1619
$GC,2213,1.15,222.1,41.8,7.1,193,2229,0.28,0.00,12.12,0.004,6,0.003,0.000,2917,1936,1566
$GC,2256,1.15,223.9,38.7,7.4,197,2266,0.32,2.90,0.00,0.000,4,0.004,0.004,2992,3569,1566
$GC,2300,1.15,223.9,35.2,8.8,201,2311,0.30,3.03,0.00,0.000,6,0.004,0.004,2916,1948,1566
$GC,2343,1.15,223.9,32.0,8.1,205,2345,0.30,0.00,0.00,0.000,6,0.004,0.000,2993,1948,1567
$GC,2375,1.16,226.7,29.6,7.4,208,2385,0.45,0.00,5.57,0.004,6,0.003,0.000,2884,1949,1548
$GC,2417,1.16,234.5,26.5,7.2,212,2428,0.57,0.00,8.05,0.004,6,0.004,0.000,2995,1950,1518
$GC,2459,1.18,245.9,23.5,7.1,216,2473,0.38,0.00,11.27,0.005,6,0.004,0.000,2922,1949,1471
$GC,2500,1.18,247.2,20.4,7.5,220,2503,0.35,0.00,0.00,0.000,6,0.004,0.000,3000,1949,1470
$GC,2532,1.19,254.5,18.0,7.2,223,2545,0.65,0.00,8.80,0.004,6,0.003,0.000,2890,1948,1436
$GC,2575,1.19,256.7,15.0,7.4,227,2584,0.45,0.00,4.15,0.005,6,0.004,0.000,3000,1948,1425
$GC,2616,1.20,266.6,12.0,7.2,231,2630,0.32,0.00,9.93,0.005,6,0.003,0.000,2964,1947,1385
$GC,2658,1.23,284.4,9.2,6.9,235,2673,0.00,0.00,12.98,0.005,6,0.000,0.000,2965,1949,1313
$GC,2701,1.27,321.1,6.6,6.2,239,2730,0.00,0.00,24.88,0.005,6,0.000,0.000,2964,1948,1163
$GC,2762,1.29,336.9,2.1,7.0,245,2766,0.00,0.00,1.77,0.004,2,0.000,0.000,2962,1948,1163
$STATE,2766,end climb,SURFACE_DEPTH_REACHED
$STATE,2767,begin surface coast
$FINISH,0.7,0.997328
$STATE,2803,end surface coast,CONTROL_FINISHED_OK
$STATE,2803,begin surface
$SM_CCo,2899,26.12,0.004,3,0,1045,350.04
$SM_GC,0.00,0.00,0.00,26.12,0.000,0.000,0.004,146,2248,1045,-11.71,5.06,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.049088
$HUMID,1604
$INTERNAL_PRESSURE,12.5493
$TCM_TEMP,15.00
$24V_AH,23.7,39.457
$10V_AH,9.7,41.633
$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,36.575,28.075,408.000,26.125,0.000,0.000,0.000,92.370,0.000,0.000,35.486,505.640,1354.748,582.584,358.124,584.903,33.358,894.299,0.000,274.170,0.000,0.000,0.000
$DEVICE_MAMPS,4.602,3.835,4.602,3.835,0.000,103.000,0.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,26.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,189.271,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6444,249
$CAP_FILE_SIZE,80806,8
$CFSIZE,260165632,247812096
$ERRORS,0,1,0,0,0,0,0,0,1,0,0,93,114,3,0
$GPS,180708,184907,4807.379,-12223.296,6,1.1,6,18.0