version: 66.05
glider: 80
mission: 10
dive: 331
start: 7 18 108 9 6 40
data:
$ID,80
$MISSION,10
$DIVE,331
$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,30
$T_MISSION,45
$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,-22667.896
$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
$GPS1,085853,4806.966,-12222.792,29,1.1,29,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,090549,4806.928,-12222.742,32,1.1,32,18.0
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.196,0.171
$KALMAN_X,9795.8,-152.4,-109.6,-8166.5,175.1
$KALMAN_Y,-4235.2,553.8,333.8,1710.5,-80.8
$MHEAD_RNG_PITCHd_Wd,293.1,2522,-18.2,-10.000
$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,90,end surface,CONTROL_FINISHED_OK
$STATE,90,begin dive
$GC,93,-1.32,-146.6,0.0,0.0,0,163,0.00,0.00,-67.38,0.000,6,0.000,0.000,146,1952,3080
$GC,167,-1.32,-146.6,0.6,-0.8,7,183,11.40,0.00,0.00,0.000,6,0.004,0.000,2460,1952,3079
$GC,214,-1.32,-146.6,10.1,-22.3,12,217,0.47,0.00,0.00,0.000,6,0.004,0.000,2349,1951,3080
$GC,246,-1.32,-146.6,14.4,-14.2,15,251,0.35,2.28,0.00,0.000,4,0.005,0.004,2424,524,3080
$GC,554,-1.32,-146.6,51.9,-11.6,42,559,0.00,2.78,0.00,0.000,6,0.000,0.004,2423,2248,3080
$GC,592,-1.32,-146.6,56.4,-12.2,45,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2246,3081
$GC,623,-1.32,-146.6,60.2,-12.0,48,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2248,3080
$GC,656,-1.32,-146.6,64.1,-12.2,51,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2248,3080
$GC,687,-1.32,-146.6,68.1,-12.6,54,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2247,3079
$GC,719,-1.32,-146.6,71.8,-11.7,57,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2248,3081
$GC,751,-1.32,-146.6,75.7,-12.0,60,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2246,3080
$GC,783,-1.32,-146.6,79.5,-12.0,63,787,0.00,2.35,0.00,0.000,4,0.000,0.004,2425,3580,3079
$STATE,868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,868,begin apogee
$GC,878,-0.31,0.0,90.4,11.5,70,1005,1.12,0.00,122.75,0.005,6,0.004,0.000,2643,1932,2473
$STATE,1006,end apogee,CONTROL_FINISHED_OK
$STATE,1006,begin climb
$GC,1009,1.32,146.6,92.0,0.0,83,1135,1.67,0.00,120.80,0.005,6,0.004,0.000,3025,1931,1874
$GC,1165,1.32,146.6,77.5,12.1,98,1170,0.30,2.90,0.00,0.000,4,0.004,0.004,2954,3658,1874
$GC,1474,1.32,146.6,42.4,10.6,125,1480,0.30,2.95,0.00,0.000,6,0.003,0.004,3025,1895,1874
$GC,1512,1.32,146.6,37.8,12.4,128,1518,0.38,2.83,0.00,0.000,4,0.004,0.004,2947,3656,1874
$GC,1822,1.32,151.5,3.8,9.8,155,1834,0.30,2.97,5.07,0.004,6,0.003,0.004,3022,1882,1854
$STATE,1840,end climb,SURFACE_DEPTH_REACHED
$STATE,1841,begin surface coast
$FINISH,0.8,0.997402
$STATE,1863,end surface coast,CONTROL_FINISHED_OK
$STATE,1863,begin surface
$SM_CCo,1959,172.38,0.004,23,0,1045,350.04
$SM_GC,0.00,0.00,0.00,172.38,0.000,0.000,0.004,146,2202,1045,-11.71,3.70,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.049855
$HUMID,1587
$INTERNAL_PRESSURE,12.5395
$TCM_TEMP,15.00
$24V_AH,23.8,38.479
$10V_AH,9.7,41.390
$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,30.150,22.450,248.625,172.375,0.000,0.000,0.000,96.640,0.000,0.000,32.386,325.507,919.633,629.859,282.111,530.747,33.353,854.573,0.000,210.160,0.000,0.000,0.000
$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,123.015,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,3309,159
$CAP_FILE_SIZE,54837,8
$CFSIZE,260165632,248111104
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,81,85,23,0
$GPS,180708,094607,4807.037,-12222.957,19,1.1,19,18.0