version: 66.05
glider: 80
mission: 10
dive: 390
start: 7 20 108 21 9 39
data:
$ID,80
$MISSION,10
$DIVE,390
$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,-24095.482
$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
$GPS1,210126,4807.542,-12223.496,11,1.1,11,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-50.0
$GPS2,210844,4807.509,-12223.507,37,1.1,37,18.0
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.091,-0.143
$KALMAN_X,13474.2,34.6,-26.4,-13059.9,25.6
$KALMAN_Y,-3331.7,68.4,63.2,2634.3,-16.4
$MHEAD_RNG_PITCHd_Wd,129.7,3359,-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,-67.32,0.000,6,0.000,0.000,146,2185,3076
$GC,169,-1.00,-146.6,0.6,-0.6,7,190,11.48,2.65,0.00,0.000,4,0.004,0.004,2511,529,3074
$GC,202,-1.00,-146.6,6.7,-22.9,10,208,0.30,2.65,0.00,0.000,6,0.004,0.004,2435,2182,3076
$GC,239,-1.00,-146.6,10.4,-9.7,13,245,0.35,2.65,0.00,0.000,4,0.004,0.004,2512,542,3076
$GC,492,-1.00,-146.6,28.5,-6.8,35,498,0.30,2.83,0.00,0.000,6,0.004,0.004,2434,2176,3075
$GC,530,-1.00,-146.6,31.1,-7.1,38,532,0.30,0.00,0.00,0.000,6,0.004,0.000,2509,2175,3075
$GC,562,-1.00,-146.6,33.2,-6.7,41,564,0.28,0.00,0.00,0.000,6,0.004,0.000,2437,2176,3075
$GC,594,-1.00,-146.6,35.2,-6.3,44,596,0.40,0.00,0.00,0.000,6,0.004,0.000,2508,2176,3076
$GC,625,-1.00,-146.6,37.3,-6.3,47,628,0.32,0.00,0.00,0.000,6,0.003,0.000,2472,2176,3080
$GC,659,-1.00,-146.6,39.2,-6.2,50,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2177,3076
$GC,690,-1.00,-146.6,41.1,-6.0,53,694,0.00,2.28,0.00,0.000,4,0.000,0.004,2471,3614,3076
$GC,1000,-1.00,-146.6,59.5,-6.2,80,1005,0.00,2.95,0.00,0.000,6,0.000,0.004,2472,1887,3076
$GC,1038,-1.00,-146.6,62.0,-6.6,83,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1887,3075
$GC,1069,-1.00,-146.6,64.0,-6.4,86,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1885,3075
$GC,1101,-1.00,-146.6,66.1,-6.3,89,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1886,3076
$GC,1133,-1.00,-146.6,68.1,-6.3,92,1138,0.00,3.03,0.00,0.000,4,0.000,0.004,2472,3622,3076
$GC,1442,-1.00,-146.6,87.5,-6.3,119,1447,0.00,2.85,0.00,0.000,6,0.000,0.003,2472,1956,3076
$GC,1479,-1.00,-146.6,89.9,-6.4,122,1483,0.00,1.75,0.00,0.000,3,0.000,0.004,2473,3070,3076
$STATE,1484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1484,begin apogee
$GC,1493,-0.31,0.0,90.1,6.1,122,1620,0.82,0.00,122.20,0.005,6,0.004,0.000,2659,1946,2473
$STATE,1621,end apogee,CONTROL_FINISHED_OK
$STATE,1621,begin climb
$GC,1624,1.00,146.6,91.7,0.0,135,1751,1.42,0.00,120.65,0.005,6,0.004,0.000,2922,1948,1875
$GC,1778,1.00,146.6,83.0,7.4,150,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,1947,1875
$GC,1810,1.00,146.6,80.6,7.3,153,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,1946,1874
$GC,1841,1.00,146.6,78.4,7.2,156,1846,0.00,2.78,0.00,0.000,4,0.000,0.004,2920,3608,1874
$GC,2121,1.00,146.6,57.9,8.2,180,2127,0.00,2.75,0.00,0.000,6,0.000,0.004,2920,1956,1875
$GC,2159,1.00,146.6,55.1,7.8,184,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1956,1875
$GC,2191,1.00,146.6,52.7,7.4,187,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,1955,1874
$GC,2225,1.00,146.6,50.2,7.8,190,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1957,1875
$GC,2254,1.00,146.6,48.0,7.0,193,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1956,1876
$GC,2286,1.00,146.6,45.6,7.4,196,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1958,1875
$GC,2318,1.00,146.6,43.3,7.4,199,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1956,1875
$GC,2350,1.00,146.6,41.0,7.3,202,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1956,1875
$GC,2382,1.00,146.6,38.5,7.6,205,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1955,1875
$GC,2413,1.00,146.6,36.3,7.2,208,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1955,1875
$GC,2446,1.00,146.6,34.0,7.2,211,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1957,1875
$GC,2477,1.00,146.6,31.8,6.9,214,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,1957,1874
$GC,2509,1.00,146.6,29.6,6.9,217,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1956,1875
$GC,2541,1.00,146.6,27.4,6.8,220,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1954,1875
$GC,2573,1.00,146.6,25.3,6.8,223,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,1957,1876
$GC,2604,1.00,146.6,23.2,6.6,226,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1956,1875
$GC,2636,1.00,146.6,21.1,6.4,229,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1957,1874
$GC,2668,1.00,146.6,19.0,6.7,232,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1956,1875
$GC,2700,1.00,146.6,16.8,6.9,235,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1957,1875
$GC,2732,1.00,146.6,14.6,6.7,238,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,1955,1875
$GC,2764,1.00,146.6,12.5,6.7,241,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1957,1875
$GC,2796,1.00,146.6,10.5,6.5,244,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1955,1873
$GC,2827,1.00,146.6,8.5,6.3,247,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1955,1875
$GC,2859,1.00,146.6,6.6,6.1,250,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1957,1875
$GC,2892,1.03,168.7,4.9,5.3,253,2914,0.00,2.80,15.80,0.005,4,0.000,0.004,2921,3617,1784
$STATE,2934,end climb,SURFACE_DEPTH_REACHED
$STATE,2934,begin surface coast
$FINISH,0.9,0.997274
$STATE,2969,end surface coast,CONTROL_FINISHED_OK
$STATE,2969,begin surface
$SM_CCo,3068,157.50,0.004,21,0,1045,350.04
$SM_GC,0.00,0.00,0.00,157.50,0.000,0.000,0.004,147,1897,1045,-11.71,-4.86,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.049855
$HUMID,1518
$INTERNAL_PRESSURE,12.4809
$TCM_TEMP,15.00
$24V_AH,23.8,45.061
$10V_AH,9.7,42.932
$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,29.875,36.900,258.650,157.500,0.000,0.000,0.000,95.510,0.000,0.000,37.606,547.338,1589.463,646.431,390.632,622.291,33.366,988.619,0.000,300.218,0.000,0.000,0.000
$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,203.945,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6461,260
$CAP_FILE_SIZE,81675,8
$CFSIZE,260165632,246337536
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,72,151,21,0
$GPS,200708,220703,4807.327,-12223.239,9,1.1,9,18.0