version: 66.05
glider: 80
mission: 10
dive: 382
start: 7 20 108 12 46 47
data:
$ID,80
$MISSION,10
$DIVE,382
$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,-23859.883
$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
$GPS1,123814,4806.781,-12222.535,19,1.1,19,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-50.0
$GPS2,124552,4806.751,-12222.545,31,1.1,31,18.0
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.111,0.128
$KALMAN_X,13179.0,20.5,16.6,-11604.2,48.0
$KALMAN_Y,-3710.9,16.6,26.6,1698.9,-18.4
$MHEAD_RNG_PITCHd_Wd,301.2,2931,-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,90,end surface,CONTROL_FINISHED_OK
$STATE,90,begin dive
$GC,94,-1.00,-146.6,0.0,0.0,0,165,0.00,0.00,-67.20,0.000,6,0.000,0.000,146,2208,3074
$GC,169,-1.00,-146.6,0.6,-0.7,7,190,12.18,2.65,0.00,0.000,4,0.004,0.004,2508,544,3075
$GC,269,-1.00,-146.6,15.2,-8.6,16,275,0.30,2.78,0.00,0.000,6,0.004,0.004,2433,2195,3075
$GC,307,-1.00,-146.6,18.3,-7.9,19,309,0.38,0.00,0.00,0.000,6,0.004,0.000,2511,2192,3076
$GC,338,-1.00,-146.6,20.6,-7.6,22,344,0.28,2.50,0.00,0.000,4,0.004,0.004,2436,3625,3075
$GC,383,-1.00,-146.6,23.9,-8.0,25,390,0.30,2.90,0.00,0.000,6,0.004,0.004,2512,1955,3075
$GC,420,-1.00,-146.6,26.9,-8.1,29,423,0.32,0.00,0.00,0.000,6,0.004,0.000,2474,1957,3074
$GC,452,-1.00,-146.6,29.3,-7.6,32,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1958,3075
$GC,484,-1.00,-146.6,31.7,-7.6,35,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1958,3075
$GC,516,-1.00,-146.6,34.1,-7.5,38,521,0.00,3.05,0.00,0.000,4,0.000,0.004,2471,3574,3076
$GC,601,-1.00,-146.6,40.4,-7.9,45,606,0.00,2.80,0.00,0.000,6,0.000,0.004,2474,1934,3075
$GC,639,-1.00,-146.6,43.2,-7.6,48,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1934,3074
$GC,670,-1.00,-146.6,45.6,-7.3,51,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1934,3076
$GC,702,-1.00,-146.6,47.9,-7.4,54,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1934,3075
$GC,734,-1.00,-146.6,50.3,-7.5,57,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1933,3074
$GC,766,-1.00,-146.6,52.7,-7.4,60,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1934,3074
$GC,798,-1.00,-146.6,55.0,-7.3,63,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1934,3075
$GC,829,-1.00,-146.6,57.4,-7.5,66,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1934,3075
$GC,862,-1.00,-146.6,59.8,-7.6,69,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1935,3075
$GC,893,-1.00,-146.6,62.1,-7.1,72,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1934,3075
$GC,925,-1.00,-146.6,64.5,-7.6,75,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1934,3075
$GC,957,-1.00,-146.6,67.0,-7.8,78,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1935,3075
$GC,989,-1.00,-146.6,69.3,-7.5,81,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1934,3075
$GC,1021,-1.00,-146.6,71.6,-7.3,84,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1934,3076
$GC,1052,-1.00,-146.6,74.0,-7.6,87,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1934,3075
$GC,1085,-1.00,-146.6,76.5,-7.4,90,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1935,3076
$GC,1116,-1.00,-146.6,78.8,-7.5,93,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1933,3075
$GC,1149,-1.00,-146.6,81.2,-7.2,96,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1936,3075
$GC,1180,-1.00,-146.6,83.5,-7.2,99,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1935,3075
$GC,1212,-1.00,-146.6,85.8,-7.4,102,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1934,3075
$GC,1243,-1.00,-146.6,88.1,-7.2,105,1248,0.00,2.85,0.00,0.000,4,0.000,0.004,2474,3589,3075
$STATE,1269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1269,begin apogee
$GC,1279,-0.31,0.0,90.1,7.1,107,1406,0.82,0.00,121.82,0.005,6,0.004,0.000,2665,1954,2472
$STATE,1407,end apogee,CONTROL_FINISHED_OK
$STATE,1407,begin climb
$GC,1410,1.00,146.6,92.1,0.0,120,1536,1.33,0.00,120.60,0.005,6,0.004,0.000,2934,1953,1875
$GC,1564,1.00,146.6,83.7,7.7,135,1566,0.35,0.00,0.00,0.000,6,0.004,0.000,2861,1956,1876
$GC,1596,1.00,146.6,81.4,7.3,138,1598,0.38,0.00,0.00,0.000,6,0.004,0.000,2936,1953,1874
$GC,1627,1.00,146.6,79.0,7.5,141,1633,0.35,2.70,0.00,0.000,4,0.004,0.004,2860,3610,1874
$GC,1936,1.00,146.6,56.2,8.4,168,1942,0.30,2.80,0.00,0.000,6,0.003,0.004,2935,1969,1875
$GC,1974,1.00,146.6,53.2,8.2,171,1976,0.28,0.00,0.00,0.000,6,0.005,0.000,2858,1969,1875
$GC,2006,1.00,146.6,50.7,7.9,174,2008,0.43,0.00,0.00,0.000,6,0.003,0.000,2935,1967,1874
$GC,2038,1.00,146.6,48.4,7.5,177,2040,0.43,0.00,0.00,0.000,6,0.004,0.000,2856,1969,1875
$GC,2069,1.00,146.6,46.1,7.2,180,2072,0.55,0.00,0.00,0.000,6,0.003,0.000,2974,1967,1874
$GC,2102,1.00,146.6,43.8,7.0,183,2104,0.62,0.00,0.00,0.000,6,0.003,0.000,2858,1968,1874
$GC,2134,1.00,146.6,41.7,6.8,186,2136,0.38,0.00,0.00,0.000,6,0.003,0.000,2935,1968,1875
$GC,2165,1.00,146.6,39.5,6.9,189,2167,0.30,0.00,0.00,0.000,6,0.003,0.000,2858,1968,1875
$GC,2197,1.00,146.6,37.2,7.0,192,2199,0.55,0.00,0.00,0.000,6,0.004,0.000,2971,1968,1874
$GC,2229,1.00,146.6,35.0,7.0,195,2231,0.52,0.00,0.00,0.000,6,0.003,0.000,2861,1968,1874
$GC,2261,1.00,146.6,32.8,7.0,198,2263,0.45,0.00,0.00,0.000,6,0.003,0.000,2936,1968,1874
$GC,2292,1.00,146.6,30.5,7.2,201,2298,0.38,2.83,0.00,0.000,4,0.004,0.003,2861,3609,1874
$GC,2393,1.00,146.6,22.7,7.5,209,2400,0.30,2.78,0.00,0.000,6,0.004,0.004,2936,1959,1875
$GC,2431,1.00,146.6,20.0,7.5,213,2433,0.35,0.00,0.00,0.000,6,0.003,0.000,2860,1959,1874
$GC,2463,1.00,146.6,17.6,7.4,216,2465,0.38,0.00,0.00,0.000,6,0.003,0.000,2935,1960,1874
$GC,2495,1.00,146.6,15.3,7.3,219,2497,0.38,0.00,0.00,0.000,6,0.003,0.000,2863,1960,1874
$GC,2527,1.00,146.6,13.0,7.3,222,2529,0.32,0.00,0.00,0.000,6,0.003,0.000,2904,1962,1874
$GC,2559,1.00,146.6,10.7,7.4,225,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1958,1874
$GC,2590,1.00,146.6,8.2,7.7,228,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1958,1874
$GC,2622,1.00,146.6,6.1,6.9,231,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1960,1875
$GC,2654,1.00,146.6,3.7,7.3,234,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1960,1874
$STATE,2684,end climb,SURFACE_DEPTH_REACHED
$STATE,2684,begin surface coast
$FINISH,0.6,0.997116
$STATE,2716,end surface coast,CONTROL_FINISHED_OK
$STATE,2717,begin surface
$SM_CCo,2813,175.35,0.004,23,0,1046,350.04
$SM_GC,-0.00,0.00,0.00,175.35,0.000,0.000,0.004,145,2208,1046,-11.72,3.93,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.048321
$HUMID,1565
$INTERNAL_PRESSURE,12.5005
$TCM_TEMP,15.00
$24V_AH,23.8,44.144
$10V_AH,9.7,42.719
$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,37.725,33.725,242.425,175.350,0.000,0.000,0.000,119.067,0.000,0.000,31.502,527.599,1398.821,672.375,327.168,662.676,33.369,977.210,0.000,247.098,0.000,0.000,0.000
$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,188.441,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6464,240
$CAP_FILE_SIZE,88503,8
$CFSIZE,260165632,246562816
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,95,134,23,0
$GPS,200708,134023,4806.952,-12222.759,9,1.1,9,18.0