version: 66.05
glider: 80
mission: 10
dive: 389
start: 7 20 108 20 3 25
data:
$ID,80
$MISSION,10
$DIVE,389
$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,-24057.238
$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
$GPS1,195519,4807.748,-12223.807,10,1.1,10,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-50.0
$GPS2,200230,4807.722,-12223.797,30,1.1,30,18.0
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.099,-0.138
$KALMAN_X,13385.9,41.4,-1.0,-13363.4,-11.8
$KALMAN_Y,-3349.9,70.8,63.3,3046.2,3.4
$MHEAD_RNG_PITCHd_Wd,126.3,3888,-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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,94,-1.00,-146.6,0.0,0.0,0,165,0.00,0.00,-67.20,0.000,6,0.000,0.000,146,1898,3077
$GC,169,-1.00,-146.6,0.6,-0.6,7,190,11.57,2.15,0.00,0.000,4,0.004,0.003,2513,547,3076
$GC,235,-1.00,-146.6,10.2,-8.8,13,241,0.30,2.67,0.00,0.000,6,0.003,0.004,2441,2199,3077
$GC,272,-1.00,-146.6,13.0,-7.5,16,278,0.43,2.80,0.00,0.000,4,0.004,0.004,2517,553,3076
$GC,485,-1.00,-146.6,28.1,-6.3,34,492,0.30,2.72,0.00,0.000,6,0.004,0.004,2441,2218,3076
$GC,523,-1.00,-146.6,30.7,-7.1,38,525,0.30,0.00,0.00,0.000,6,0.004,0.000,2518,2219,3077
$GC,555,-1.00,-146.6,32.7,-6.4,41,557,0.40,0.00,0.00,0.000,6,0.003,0.000,2444,2219,3076
$GC,587,-1.00,-146.6,34.6,-6.2,44,589,0.30,0.00,0.00,0.000,6,0.003,0.000,2516,2219,3075
$GC,619,-1.00,-146.6,36.8,-6.7,47,621,0.30,0.00,0.00,0.000,6,0.004,0.000,2442,2219,3077
$GC,650,-1.00,-146.6,38.9,-6.5,50,653,0.43,0.00,0.00,0.000,6,0.004,0.000,2516,2219,3076
$GC,683,-1.00,-146.6,41.0,-6.6,53,685,0.43,0.00,0.00,0.000,6,0.003,0.000,2440,2218,3076
$GC,714,-1.00,-146.6,43.1,-6.6,56,717,0.40,0.00,0.00,0.000,6,0.004,0.000,2516,2218,3076
$GC,746,-1.00,-146.6,45.2,-6.6,59,752,0.28,2.60,0.00,0.000,4,0.004,0.004,2440,3651,3076
$GC,1055,-1.00,-146.6,64.4,-6.3,86,1062,0.30,3.08,0.00,0.000,6,0.004,0.004,2516,1884,3076
$GC,1093,-1.00,-146.6,66.7,-6.2,89,1099,0.40,2.85,0.00,0.000,4,0.004,0.004,2447,3604,3076
$GC,1403,-1.00,-146.6,86.3,-6.4,116,1408,0.30,2.60,0.00,0.000,6,0.003,0.004,2521,1947,3076
$GC,1441,-1.00,-146.6,88.5,-5.8,119,1447,0.35,2.80,0.00,0.000,4,0.004,0.004,2446,3598,3076
$STATE,1467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1467,begin apogee
$GC,1477,-0.31,0.0,90.3,5.8,121,1604,1.12,0.00,122.38,0.005,6,0.004,0.000,2671,1945,2472
$STATE,1605,end apogee,CONTROL_FINISHED_OK
$STATE,1605,begin climb
$GC,1608,1.00,146.6,91.9,0.0,134,1733,1.15,0.00,120.55,0.005,6,0.004,0.000,2897,1944,1874
$GC,1762,1.00,146.6,83.0,7.7,149,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1945,1876
$GC,1794,1.00,146.6,80.6,7.4,152,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1946,1874
$GC,1825,1.00,146.6,78.3,7.8,155,1830,0.00,2.78,0.00,0.000,4,0.000,0.004,2897,3584,1876
$GC,2105,1.00,146.6,57.5,7.7,179,2111,0.00,2.78,0.00,0.000,6,0.000,0.004,2895,1942,1874
$GC,2143,1.00,146.6,54.4,8.3,183,2148,0.00,2.65,0.00,0.000,4,0.000,0.004,2897,493,1875
$GC,2267,1.00,146.6,46.1,6.9,193,2273,0.00,2.90,0.00,0.000,6,0.000,0.004,2895,2247,1874
$GC,2304,1.00,146.6,43.7,6.4,197,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2247,1874
$GC,2336,1.00,146.6,41.6,6.7,200,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2247,1875
$GC,2368,1.00,146.6,39.4,6.7,203,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2246,1875
$GC,2400,1.00,146.6,37.3,6.6,206,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2245,1875
$GC,2432,1.00,146.6,35.2,6.7,209,2436,0.00,2.53,0.00,0.000,4,0.000,0.004,2897,3599,1874
$GC,2471,1.00,146.6,32.4,7.0,212,2475,0.00,2.78,0.00,0.000,6,0.000,0.004,2899,1965,1874
$GC,2508,1.00,146.6,29.8,6.8,215,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1964,1875
$GC,2540,1.00,146.6,27.6,6.9,218,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1963,1874
$GC,2572,1.00,146.6,25.5,6.7,221,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1964,1874
$GC,2604,1.00,146.6,23.4,6.6,224,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1965,1874
$GC,2635,1.00,146.6,21.3,6.5,227,2640,0.00,2.30,0.00,0.000,4,0.000,0.004,2895,515,1875
$GC,2877,1.01,148.7,6.2,5.9,248,2882,0.00,3.03,0.00,0.000,6,0.000,0.004,2896,2172,1875
$GC,2915,1.03,164.8,4.1,5.5,251,2935,0.00,2.78,13.35,0.004,4,0.000,0.004,2896,521,1801
$STATE,2955,end climb,SURFACE_DEPTH_REACHED
$STATE,2955,begin surface coast
$FINISH,0.8,0.997255
$STATE,3001,end surface coast,CONTROL_FINISHED_OK
$STATE,3004,begin surface
$SM_CCo,3100,160.15,0.004,21,0,1045,350.04
$SM_GC,0.00,0.00,0.00,160.15,0.000,0.000,0.004,145,2185,1045,-11.73,3.28,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.049088
$HUMID,1579
$INTERNAL_PRESSURE,12.4809
$TCM_TEMP,15.00
$24V_AH,23.8,44.941
$10V_AH,9.7,42.905
$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,33.350,54.325,256.275,160.150,0.000,0.000,0.000,96.360,0.000,0.000,30.375,542.679,1603.536,661.250,413.319,603.144,33.365,1016.882,0.000,327.826,0.000,0.000,0.000
$DEVICE_MAMPS,3.835,3.835,4.602,3.835,0.000,103.000,0.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,26.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,201.701,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6469,259
$CAP_FILE_SIZE,80312,7
$CFSIZE,260165632,246366208
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,67,219,21,0
$GPS,200708,210126,4807.542,-12223.496,11,1.1,11,18.0