version: 66.05
glider: 80
mission: 10
dive: 396
start: 7 21 108 3 25 57
data:
$ID,80
$MISSION,10
$DIVE,396
$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,-24235.701
$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
$GPS1,031748,4806.468,-12222.342,19,1.1,19,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-50.0
$GPS2,032502,4806.430,-12222.355,24,1.1,24,18.0
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.048,-0.163
$KALMAN_X,13500.8,-59.9,-75.6,-11518.5,144.5
$KALMAN_Y,-2835.3,110.2,81.1,86.8,-36.0
$MHEAD_RNG_PITCHd_Wd,145.7,910,-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,-67.10,0.000,6,0.000,0.000,145,1954,3075
$GC,169,-1.00,-146.6,0.6,-0.6,7,190,11.82,2.30,0.00,0.000,4,0.004,0.003,2505,517,3075
$GC,229,-1.00,-146.6,10.8,-14.0,12,236,0.30,3.03,0.00,0.000,6,0.004,0.004,2430,2246,3075
$GC,267,-1.00,-146.6,13.8,-8.3,16,273,0.32,3.03,0.00,0.000,4,0.004,0.004,2505,505,3074
$GC,576,-1.00,-146.6,34.9,-5.8,43,583,0.30,3.05,0.00,0.000,6,0.004,0.004,2433,2257,3075
$GC,615,-1.00,-146.6,37.2,-5.9,46,617,0.28,0.00,0.00,0.000,6,0.004,0.000,2505,2257,3075
$GC,646,-1.00,-146.6,39.1,-6.0,49,648,0.35,0.00,0.00,0.000,6,0.003,0.000,2431,2256,3073
$GC,678,-1.00,-146.6,41.0,-5.9,52,680,0.40,0.00,0.00,0.000,6,0.003,0.000,2505,2255,3074
$GC,710,-1.00,-146.6,42.8,-5.9,55,712,0.38,0.00,0.00,0.000,6,0.004,0.000,2431,2256,3075
$GC,742,-1.00,-146.6,44.8,-6.0,58,744,0.40,0.00,0.00,0.000,6,0.004,0.000,2510,2258,3076
$GC,773,-1.00,-146.6,46.7,-6.1,61,776,0.35,0.00,0.00,0.000,6,0.003,0.000,2434,2256,3075
$GC,806,-1.00,-146.6,48.6,-5.9,64,808,0.30,0.00,0.00,0.000,6,0.005,0.000,2505,2256,3075
$GC,837,-1.00,-146.6,50.5,-5.9,67,840,0.43,0.00,0.00,0.000,6,0.003,0.000,2430,2256,3075
$GC,869,-1.00,-146.6,52.4,-6.0,70,871,0.38,0.00,0.00,0.000,6,0.004,0.000,2510,2257,3075
$GC,901,-1.00,-146.6,54.3,-6.0,73,903,0.35,0.00,0.00,0.000,6,0.003,0.000,2435,2256,3075
$GC,933,-1.00,-146.6,56.3,-6.3,76,935,0.38,0.00,0.00,0.000,6,0.003,0.000,2508,2255,3075
$GC,964,-1.00,-146.6,58.5,-6.9,79,967,0.38,0.00,0.00,0.000,6,0.004,0.000,2434,2256,3075
$GC,997,-1.00,-146.6,60.6,-6.7,82,999,0.30,0.00,0.00,0.000,6,0.004,0.000,2505,2255,3075
$GC,1028,-1.00,-146.6,62.7,-6.6,85,1030,0.30,0.00,0.00,0.000,6,0.003,0.000,2426,2256,3074
$GC,1060,-1.00,-146.6,64.8,-6.3,88,1062,0.32,0.00,0.00,0.000,6,0.004,0.000,2496,2257,3075
$GC,1092,-1.00,-146.6,66.9,-6.6,91,1094,0.30,0.00,0.00,0.000,6,0.003,0.000,2419,2255,3074
$GC,1124,-1.00,-146.6,68.9,-6.5,94,1126,0.55,0.00,0.00,0.000,6,0.003,0.000,2532,2255,3075
$GC,1156,-1.00,-146.6,71.2,-6.8,97,1158,0.60,0.00,0.00,0.000,6,0.004,0.000,2457,2256,3075
$GC,1187,-1.00,-146.6,73.0,-6.3,100,1192,0.00,2.20,0.00,0.000,4,0.000,0.004,2456,3581,3075
$GC,1307,-1.00,-146.6,80.6,-6.9,110,1312,0.00,3.03,0.00,0.000,6,0.000,0.004,2456,1955,3074
$GC,1345,-1.00,-146.6,83.1,-6.5,113,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1954,3075
$GC,1376,-1.00,-146.6,85.1,-6.2,116,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1956,3075
$GC,1408,-1.00,-146.6,87.1,-6.4,119,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1955,3075
$GC,1441,-1.00,-146.6,89.1,-6.2,122,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1955,3075
$STATE,1458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1459,begin apogee
$GC,1466,-0.31,0.0,90.3,6.0,124,1593,1.38,0.00,122.05,0.005,6,0.004,0.000,2683,2065,2474
$STATE,1594,end apogee,CONTROL_FINISHED_OK
$STATE,1594,begin climb
$GC,1597,1.00,146.6,91.9,0.0,137,1724,1.38,0.00,120.95,0.005,6,0.004,0.000,2941,2065,1875
$GC,1756,1.00,146.6,82.7,7.3,153,1758,0.38,0.00,0.00,0.000,6,0.004,0.000,2867,2064,1875
$GC,1787,1.00,146.6,80.5,7.1,156,1793,0.28,2.65,0.00,0.000,4,0.004,0.004,2943,3595,1876
$GC,2097,1.00,146.6,57.3,7.6,183,2103,0.30,3.03,0.00,0.000,6,0.003,0.004,2872,1950,1875
$GC,2135,1.00,146.6,54.5,7.5,186,2137,0.32,0.00,0.00,0.000,6,0.003,0.000,2910,1949,1875
$GC,2167,1.00,146.6,52.2,7.2,189,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1949,1876
$GC,2198,1.00,146.6,49.8,7.3,192,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1948,1875
$GC,2230,1.00,146.6,47.4,7.5,195,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1949,1876
$GC,2262,1.00,146.6,45.2,7.0,198,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1948,1874
$GC,2294,1.00,146.6,43.0,7.2,201,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1948,1875
$GC,2326,1.00,146.6,40.5,7.3,204,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1949,1875
$GC,2358,1.00,146.6,38.3,7.3,207,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1950,1875
$GC,2389,1.00,146.6,36.0,7.3,210,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1948,1875
$GC,2423,1.00,146.6,33.8,7.1,213,2428,0.00,2.85,0.00,0.000,4,0.000,0.004,2910,3574,1875
$GC,2732,1.00,146.6,11.8,6.8,240,2736,0.00,2.60,0.00,0.000,6,0.000,0.004,2909,1922,1875
$GC,2769,1.00,146.6,9.5,6.1,243,2774,0.00,2.78,0.00,0.000,4,0.000,0.004,2910,3589,1874
$GC,2870,1.01,153.3,3.1,5.8,251,2885,0.00,2.78,6.43,0.004,6,0.000,0.004,2907,1927,1846
$STATE,2893,end climb,SURFACE_DEPTH_REACHED
$STATE,2893,begin surface coast
$FINISH,0.8,0.997140
$STATE,2937,end surface coast,CONTROL_FINISHED_OK
$STATE,2937,begin surface
$SM_CCo,3034,169.07,0.004,23,0,1046,350.29
$SM_GC,0.00,0.00,0.00,169.07,0.000,0.000,0.004,148,2244,1046,-11.71,4.95,350.29
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.049855
$HUMID,1502
$INTERNAL_PRESSURE,12.4517
$TCM_TEMP,15.00
$24V_AH,23.8,45.749
$10V_AH,9.7,43.091
$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,37.925,34.150,249.425,169.075,0.000,0.000,0.000,106.686,0.000,0.000,25.090,550.453,1558.354,674.741,364.560,631.064,33.365,1000.761,0.000,286.814,0.000,0.000,0.000
$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,202.597,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6474,258
$CAP_FILE_SIZE,85213,8
$CFSIZE,260165632,246165504
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,74,145,23,0
$GPS,210708,042322,4806.132,-12222.029,23,1.1,24,18.0