version: 66.05
glider: 80
mission: 10
dive: 398
start: 7 21 108 5 35 44
data:
$ID,80
$MISSION,10
$DIVE,398
$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,-24276.859
$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
$GPS1,052752,4805.961,-12222.075,15,1.1,16,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-50.0
$GPS2,053449,4805.943,-12222.061,8,1.1,9,18.0
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.099,-0.138
$KALMAN_X,13697.5,-20.2,37.5,-11503.2,104.0
$KALMAN_Y,-2993.9,61.6,-0.8,-531.3,-119.2
$MHEAD_RNG_PITCHd_Wd,126.4,2184,-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,-67.43,0.000,6,0.000,0.000,284,2193,3080
$GC,169,-1.00,-146.6,0.4,-0.3,7,190,11.07,2.40,0.00,0.000,4,0.004,0.003,2497,3619,3078
$GC,224,-1.00,-146.6,1.0,-1.5,12,230,0.30,2.78,0.00,0.000,6,0.004,0.004,2425,1954,3079
$GC,262,-1.00,-146.6,8.5,-21.4,15,268,0.32,2.53,0.00,0.000,4,0.004,0.004,2501,508,3079
$GC,315,-1.00,-146.6,12.2,-6.7,19,321,0.30,2.90,0.00,0.000,6,0.003,0.004,2426,2248,3078
$GC,352,-1.00,-146.6,14.7,-6.3,22,358,0.35,2.83,0.00,0.000,4,0.004,0.004,2500,497,3078
$GC,438,-1.00,-146.6,20.3,-6.5,29,444,0.30,3.10,0.00,0.000,6,0.003,0.004,2424,2243,3079
$GC,476,-1.00,-146.6,22.8,-6.5,32,482,0.40,2.83,0.00,0.000,4,0.005,0.004,2497,497,3080
$GC,786,-1.00,-146.6,41.8,-6.0,59,792,0.30,2.92,0.00,0.000,6,0.003,0.004,2421,2256,3078
$GC,824,-1.00,-146.6,44.2,-6.1,62,830,0.28,2.97,0.00,0.000,4,0.004,0.004,2501,503,3078
$GC,1133,-1.00,-146.6,62.8,-6.2,89,1139,0.30,3.03,0.00,0.000,6,0.003,0.004,2430,2237,3079
$GC,1171,-1.00,-146.6,65.2,-6.4,92,1173,0.35,0.00,0.00,0.000,6,0.004,0.000,2503,2237,3080
$GC,1203,-1.00,-146.6,67.1,-6.0,95,1205,0.28,0.00,0.00,0.000,6,0.004,0.000,2430,2238,3078
$GC,1234,-1.00,-146.6,69.2,-6.6,98,1237,0.40,0.00,0.00,0.000,6,0.004,0.000,2503,2237,3079
$GC,1266,-1.00,-146.6,71.1,-6.0,101,1268,0.32,0.00,0.00,0.000,6,0.003,0.000,2425,2237,3079
$GC,1298,-1.00,-146.6,73.1,-6.1,104,1300,0.30,0.00,0.00,0.000,6,0.004,0.000,2502,2236,3080
$GC,1330,-1.00,-146.6,75.0,-6.2,107,1332,0.30,0.00,0.00,0.000,6,0.004,0.000,2423,2237,3079
$GC,1362,-1.00,-146.6,77.0,-6.3,110,1365,0.38,0.00,0.00,0.000,6,0.004,0.000,2497,2237,3078
$GC,1394,-1.00,-146.6,79.0,-6.3,113,1396,0.43,0.00,0.00,0.000,6,0.004,0.000,2427,2238,3079
$GC,1426,-1.00,-146.6,81.0,-6.2,116,1428,0.30,0.00,0.00,0.000,6,0.003,0.000,2501,2235,3078
$GC,1457,-1.00,-146.6,82.9,-6.1,119,1460,0.35,0.00,0.00,0.000,6,0.004,0.000,2426,2237,3078
$GC,1490,-1.00,-146.6,84.8,-6.0,122,1493,0.43,0.00,0.00,0.000,6,0.004,0.000,2500,2239,3079
$GC,1521,-1.00,-146.6,86.8,-6.1,125,1523,0.35,0.00,0.00,0.000,6,0.004,0.000,2427,2238,3079
$GC,1553,-1.00,-146.6,88.8,-6.0,128,1558,0.40,2.15,0.00,0.000,4,0.004,0.004,2504,3586,3078
$STATE,1572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1572,begin apogee
$GC,1582,-0.31,0.0,90.0,5.8,129,1709,0.75,0.00,122.70,0.005,6,0.004,0.000,2651,1927,2474
$STATE,1710,end apogee,CONTROL_FINISHED_OK
$STATE,1710,begin climb
$GC,1713,1.00,146.6,91.8,0.0,142,1839,1.48,0.00,121.12,0.005,6,0.004,0.000,2963,1928,1874
$GC,1867,1.00,146.6,83.4,7.1,157,1869,0.45,0.00,0.00,0.000,6,0.003,0.000,2857,1928,1875
$GC,1898,1.00,146.6,81.0,7.2,160,1901,0.57,0.00,0.00,0.000,6,0.004,0.000,2967,1927,1876
$GC,1930,1.00,146.6,78.7,7.2,163,1933,0.57,0.00,0.00,0.000,6,0.004,0.000,2850,1928,1875
$GC,1962,1.00,146.6,76.4,7.2,166,1964,0.52,0.00,0.00,0.000,6,0.004,0.000,2964,1928,1875
$GC,1994,1.00,146.6,74.0,7.5,169,2000,0.57,2.85,0.00,0.000,4,0.004,0.003,2889,3578,1875
$GC,2171,1.00,146.6,60.8,8.2,184,2176,0.00,2.90,0.00,0.000,6,0.000,0.004,2888,1953,1875
$GC,2209,1.00,146.6,57.7,8.0,187,2211,0.28,0.00,0.00,0.000,6,0.003,0.000,2963,1953,1874
$GC,2240,1.00,146.6,55.3,7.3,190,2242,0.60,0.00,0.00,0.000,6,0.003,0.000,2851,1953,1874
$GC,2272,1.00,146.6,52.9,7.7,193,2274,0.47,0.00,0.00,0.000,6,0.004,0.000,2964,1953,1875
$GC,2304,1.00,146.6,50.6,7.3,196,2306,0.60,0.00,0.00,0.000,6,0.004,0.000,2850,1953,1875
$GC,2336,1.00,146.6,48.1,7.6,199,2341,0.55,2.33,0.00,0.000,4,0.005,0.004,2964,546,1876
$GC,2645,1.00,146.6,25.9,7.7,226,2651,0.47,2.83,0.00,0.000,6,0.004,0.004,2850,2204,1875
$GC,2683,1.00,146.6,23.4,6.8,229,2685,0.45,0.00,0.00,0.000,6,0.003,0.000,2959,2204,1874
$GC,2714,1.00,146.6,21.1,7.1,232,2717,0.32,0.00,0.00,0.000,6,0.003,0.000,2885,2203,1874
$GC,2746,1.00,146.6,19.0,6.8,235,2748,0.40,0.00,0.00,0.000,6,0.004,0.000,2963,2203,1874
$GC,2778,1.00,146.6,16.8,6.7,238,2780,0.55,0.00,0.00,0.000,6,0.004,0.000,2856,2204,1876
$GC,2810,1.00,146.6,14.7,6.6,241,2813,0.57,0.00,0.00,0.000,6,0.004,0.000,2960,2204,1875
$GC,2842,1.00,146.6,12.5,7.0,244,2844,0.30,0.00,0.00,0.000,6,0.004,0.000,2885,2204,1875
$GC,2874,1.00,146.6,10.3,6.7,247,2876,0.43,0.00,0.00,0.000,6,0.003,0.000,2966,2204,1874
$GC,2905,1.00,146.6,8.5,6.0,250,2908,0.60,0.00,0.00,0.000,6,0.004,0.000,2891,2204,1875
$GC,2938,1.00,146.6,6.4,6.5,253,2940,0.32,0.00,0.00,0.000,6,0.004,0.000,2925,2203,1874
$GC,2969,1.00,146.6,4.3,6.3,256,2974,0.00,2.45,0.00,0.000,4,0.000,0.004,2926,3645,1875
$STATE,3011,end climb,SURFACE_DEPTH_REACHED
$STATE,3011,begin surface coast
$FINISH,0.9,0.997154
$STATE,3040,end surface coast,CONTROL_FINISHED_OK
$STATE,3040,begin surface
$SM_CCo,3140,175.27,0.004,23,0,1044,350.04
$SM_GC,0.00,0.00,0.00,175.27,0.000,0.000,0.004,148,1970,1044,-11.72,-2.80,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.049088
$HUMID,1568
$INTERNAL_PRESSURE,12.4712
$TCM_TEMP,15.00
$24V_AH,23.8,45.986
$10V_AH,9.7,43.146
$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,44.200,49.325,243.825,175.275,0.000,0.000,0.000,105.936,0.000,0.000,9.423,580.470,1597.262,693.376,367.277,637.265,33.371,1035.256,0.000,302.191,0.000,0.000,0.000
$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,206.153,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6454,262
$CAP_FILE_SIZE,91012,8
$CFSIZE,260165632,246095872
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,119,198,23,0
$GPS,210708,063455,4805.759,-12221.664,16,1.1,16,18.0