version: 66.05
glider: 80
mission: 10
dive: 391
start: 7 20 108 22 14 56
data:
$ID,80
$MISSION,10
$DIVE,391
$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,-24114.93
$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
$GPS1,220703,4807.327,-12223.239,9,1.1,9,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-50.0
$GPS2,221401,4807.309,-12223.229,18,1.1,18,18.0
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.072,-0.154
$KALMAN_X,13547.8,34.5,-32.0,-12783.2,72.6
$KALMAN_Y,-3260.5,64.6,47.7,2211.7,0.9
$MHEAD_RNG_PITCHd_Wd,136.9,2861,-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,-146.6,0.0,0.0,0,166,0.00,0.00,-67.38,0.000,6,0.000,0.000,146,1897,3077
$GC,170,-1.00,-146.6,0.6,-0.5,7,191,12.50,2.78,0.00,0.000,4,0.004,0.004,2523,3585,3077
$GC,196,-1.00,-146.6,5.9,-21.8,9,203,0.30,2.90,0.00,0.000,6,0.003,0.004,2448,1928,3077
$GC,234,-1.00,-146.6,10.4,-11.9,13,240,0.38,2.97,0.00,0.000,4,0.004,0.004,2520,3653,3077
$GC,544,-1.00,-146.6,32.5,-7.2,40,550,0.30,2.95,0.00,0.000,6,0.003,0.004,2446,1905,3077
$GC,581,-1.00,-146.6,35.1,-6.9,43,588,0.35,2.97,0.00,0.000,4,0.003,0.004,2521,3644,3076
$GC,892,-1.00,-146.6,56.0,-7.2,70,898,0.55,2.78,0.00,0.000,6,0.004,0.004,2413,1978,3076
$GC,931,-1.00,-146.6,58.4,-6.5,73,933,0.68,0.00,0.00,0.000,6,0.003,0.000,2526,1977,3077
$GC,960,-1.00,-146.6,60.6,-6.8,76,963,0.55,0.00,0.00,0.000,6,0.003,0.000,2412,1977,3076
$GC,994,-1.00,-146.6,62.7,-6.7,79,996,0.52,0.00,0.00,0.000,6,0.003,0.000,2521,1977,3077
$GC,1024,-1.00,-146.6,64.8,-6.8,82,1026,0.40,0.00,0.00,0.000,6,0.004,0.000,2448,1976,3077
$GC,1057,-1.00,-146.6,66.8,-6.4,85,1063,0.28,2.85,0.00,0.000,4,0.004,0.004,2526,3627,3078
$GC,1367,-1.00,-146.6,87.3,-6.5,112,1373,0.45,2.88,0.00,0.000,6,0.003,0.004,2411,1879,3077
$GC,1405,-1.00,-146.6,89.8,-6.7,115,1409,0.57,0.88,0.00,0.000,3,0.004,0.004,2524,2486,3076
$STATE,1409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1410,begin apogee
$GC,1418,-0.31,0.0,90.2,6.6,115,1544,0.75,0.00,122.38,0.005,6,0.004,0.000,2676,1892,2473
$STATE,1545,end apogee,CONTROL_FINISHED_OK
$STATE,1545,begin climb
$GC,1549,1.00,146.6,92.0,0.0,128,1683,1.17,2.42,120.40,0.005,4,0.004,0.004,2933,468,1875
$GC,1751,1.00,146.6,79.7,7.2,147,1757,0.30,3.05,0.00,0.000,6,0.004,0.004,2859,2232,1875
$GC,1789,1.00,146.6,76.9,7.7,150,1791,0.28,0.00,0.00,0.000,6,0.003,0.000,2935,2231,1874
$GC,1820,1.00,146.6,74.6,7.3,153,1822,0.38,0.00,0.00,0.000,6,0.004,0.000,2859,2231,1875
$GC,1852,1.00,146.6,72.2,7.4,156,1854,0.47,0.00,0.00,0.000,6,0.004,0.000,2932,2232,1875
$GC,1884,1.00,146.6,69.9,7.3,159,1889,0.00,2.53,0.00,0.000,4,0.000,0.004,2934,3672,1874
$GC,2051,1.00,146.6,57.5,7.5,173,2057,0.00,3.10,0.00,0.000,6,0.000,0.004,2933,1913,1875
$GC,2089,1.00,146.6,54.7,7.6,177,2094,0.38,2.17,0.00,0.000,4,0.004,0.004,2860,543,1875
$GC,2398,1.00,146.6,32.4,7.3,204,2404,0.30,2.85,0.00,0.000,6,0.004,0.004,2936,2179,1874
$GC,2437,1.00,146.6,29.7,7.4,207,2439,0.30,0.00,0.00,0.000,6,0.003,0.000,2861,2179,1875
$GC,2467,1.00,146.6,27.5,7.0,210,2469,0.32,0.00,0.00,0.000,6,0.003,0.000,2937,2178,1874
$GC,2500,1.00,146.6,25.1,7.3,213,2502,0.38,0.00,0.00,0.000,6,0.003,0.000,2863,2179,1875
$GC,2530,1.00,146.6,22.9,7.2,216,2532,0.40,0.00,0.00,0.000,6,0.003,0.000,2935,2178,1875
$GC,2562,1.00,146.6,20.7,7.0,219,2568,0.30,2.67,0.00,0.000,4,0.004,0.004,2858,515,1874
$GC,2669,1.00,146.6,13.6,6.2,228,2675,0.28,2.85,0.00,0.000,6,0.003,0.004,2930,2163,1875
$GC,2707,1.00,146.6,11.3,6.3,231,2711,0.00,2.45,0.00,0.000,4,0.000,0.004,2931,3611,1874
$GC,2802,1.00,146.6,5.5,6.1,239,2807,0.00,2.78,0.00,0.000,6,0.000,0.004,2930,1961,1875
$GC,2840,1.04,177.4,3.5,5.0,242,2870,0.00,2.40,21.35,0.005,4,0.000,0.003,2932,543,1747
$STATE,2872,end climb,SURFACE_DEPTH_REACHED
$STATE,2872,begin surface coast
$FINISH,0.5,0.997274
$STATE,2943,end surface coast,CONTROL_FINISHED_OK
$STATE,2943,begin surface
$SM_CCo,3040,149.93,0.004,20,0,1045,350.04
$SM_GC,0.00,0.00,0.00,149.93,0.000,0.000,0.004,147,2184,1045,-11.72,3.22,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.049855
$HUMID,1528
$INTERNAL_PRESSURE,12.4614
$TCM_TEMP,15.00
$24V_AH,23.8,45.180
$10V_AH,9.7,42.959
$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,37.850,56.800,264.125,149.925,0.000,0.000,0.000,96.588,0.000,0.000,18.810,532.093,1547.806,657.128,405.038,593.169,33.370,1011.142,0.000,329.820,0.000,0.000,0.000
$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,194.536,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6451,251
$CAP_FILE_SIZE,79393,8
$CFSIZE,260165632,246312960
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,90,241,20,0
$GPS,200708,231148,4807.067,-12223.176,18,1.1,18,18.0