version: 66.05
glider: 80
mission: 10
dive: 397
start: 7 21 108 4 31 46
data:
$ID,80
$MISSION,10
$DIVE,397
$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,-24266.797
$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
$GPS1,042322,4806.132,-12222.029,23,1.1,24,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-50.0
$GPS2,043051,4806.108,-12222.024,30,1.1,30,18.0
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.046,-0.039
$KALMAN_X,13652.1,-27.6,-6.4,-11364.3,112.0
$KALMAN_Y,-2917.4,103.2,65.0,-409.1,-133.6
$MHEAD_RNG_PITCHd_Wd,211.7,202,-42.5,-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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,94,-2.67,-17.6,0.0,0.0,0,146,0.00,0.00,-49.97,0.000,6,0.000,0.000,146,2243,2553
$GC,150,-2.70,-38.6,0.5,-1.2,5,172,10.02,2.40,-2.83,0.000,4,0.004,0.004,2146,3577,2637
$GC,475,-2.70,-39.2,25.4,-5.9,34,481,0.30,2.78,0.00,0.000,6,0.003,0.004,2071,1931,2636
$GC,513,-2.70,-39.2,28.0,-6.8,37,519,0.28,2.85,0.00,0.000,4,0.003,0.004,2145,3573,2636
$GC,823,-2.70,-39.8,47.2,-5.9,64,829,0.30,2.85,0.00,0.000,6,0.003,0.004,2072,1935,2636
$GC,860,-2.70,-39.8,49.5,-6.2,67,863,0.38,0.00,0.00,0.000,6,0.004,0.000,2147,1936,2636
$GC,893,-2.70,-40.1,51.4,-5.9,70,895,0.30,0.00,0.00,0.000,6,0.003,0.000,2072,1935,2636
$GC,924,-2.70,-40.5,53.4,-5.9,73,927,0.32,0.00,0.00,0.000,6,0.004,0.000,2103,1935,2636
$GC,956,-2.70,-40.5,55.3,-6.1,76,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,1936,2636
$GC,988,-2.70,-40.5,57.3,-6.3,79,993,0.00,2.65,0.00,0.000,4,0.000,0.004,2105,452,2637
$GC,1296,-2.70,-40.5,76.0,-6.2,106,1302,0.00,2.90,0.00,0.000,6,0.000,0.004,2106,2186,2636
$GC,1334,-2.71,-42.9,78.1,-5.4,109,1340,0.00,2.65,-0.52,0.000,4,0.000,0.004,2104,533,2654
$STATE,1540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1540,begin apogee
$GC,1550,-0.31,0.0,90.1,5.1,127,1596,2.62,0.00,38.25,0.005,6,0.004,0.000,2665,2185,2472
$STATE,1597,end apogee,CONTROL_FINISHED_OK
$STATE,1597,begin climb
$GC,1600,2.71,42.9,90.0,0.0,132,1646,3.12,2.53,36.28,0.005,4,0.004,0.004,3342,3651,2297
$GC,1950,2.71,42.9,50.6,10.6,163,1960,0.47,3.22,0.00,0.000,6,0.004,0.004,3231,1876,2297
$GC,1991,2.71,42.9,46.2,10.9,167,1998,0.40,2.97,0.00,0.000,4,0.005,0.004,3307,3601,2297
$GC,2301,2.71,42.9,15.8,8.5,194,2307,0.30,2.90,0.00,0.000,6,0.004,0.004,3227,1948,2297
$GC,2339,2.71,42.9,12.8,8.0,197,2345,0.45,2.92,0.00,0.000,4,0.004,0.003,3334,3606,2297
$GC,2649,2.74,66.6,3.2,0.5,224,2674,0.30,2.85,16.90,0.005,6,0.003,0.004,3258,1941,2199
$STATE,2710,end climb,SURFACE_DEPTH_REACHED
$STATE,2710,begin surface coast
$FINISH,-0.0,0.996826
$STATE,2735,end surface coast,CONTROL_FINISHED_OK
$STATE,2735,begin surface
$SM_CCo,2829,214.27,0.004,29,1,1187,315.70
$SM_CCo,3195,31.95,0.004,4,0,1044,350.04
$SM_GC,0.00,0.00,0.00,31.95,0.000,0.000,0.004,285,2194,1044,-11.09,3.48,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.049855
$HUMID,1532
$INTERNAL_PRESSURE,12.4614
$TCM_TEMP,15.00
$24V_AH,23.8,45.868
$10V_AH,9.7,43.118
$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,33.600,39.525,91.425,246.225,0.000,0.000,0.000,110.056,0.000,0.000,30.459,498.788,1601.419,622.177,409.820,589.915,33.367,946.208,0.000,324.766,0.000,0.000,0.000
$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,182.997,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6442,232
$CAP_FILE_SIZE,68915,16
$CFSIZE,260165632,246153216
$ERRORS,0,0,0,0,0,0,0,0,1,0,1,77,163,33,0
$GPS,210708,052752,4805.961,-12222.075,15,1.1,16,18.0