version: 66.05
glider: 80
mission: 10
dive: 407
start: 7 21 108 15 10 34
data:
$ID,80
$MISSION,10
$DIVE,407
$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,-24524.322
$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
$GPS1,150210,4806.188,-12221.973,12,1.1,12,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,150939,4806.152,-12221.939,27,1.1,28,18.0
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.123,0.117
$KALMAN_X,14386.4,99.0,-74.4,-12051.5,121.5
$KALMAN_Y,-3039.2,-88.9,80.2,-29.5,-18.2
$MHEAD_RNG_PITCHd_Wd,295.6,4267,-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,91,begin dive
$GC,94,-1.00,-146.6,0.0,0.0,0,165,0.00,0.00,-67.10,0.000,6,0.000,0.000,145,2212,3079
$GC,169,-1.00,-146.6,0.6,-0.8,7,185,11.45,0.00,0.00,0.000,6,0.004,0.000,2514,2213,3078
$GC,217,-1.00,-146.6,8.8,-20.3,12,219,0.35,0.00,0.00,0.000,6,0.003,0.000,2437,2210,3078
$GC,249,-1.00,-146.6,12.1,-13.8,15,251,0.38,0.00,0.00,0.000,6,0.003,0.000,2512,2214,3077
$GC,281,-1.00,-146.6,14.7,-8.3,18,283,0.43,0.00,0.00,0.000,6,0.004,0.000,2439,2212,3077
$GC,313,-1.00,-146.6,17.0,-7.4,21,315,0.35,0.00,0.00,0.000,6,0.003,0.000,2517,2213,3078
$GC,345,-1.00,-146.6,19.2,-6.9,24,347,0.43,0.00,0.00,0.000,6,0.004,0.000,2441,2213,3079
$GC,376,-1.00,-146.6,21.3,-6.9,27,379,0.35,0.00,0.00,0.000,6,0.003,0.000,2512,2213,3078
$GC,409,-1.00,-146.6,23.6,-7.0,30,411,0.32,0.00,0.00,0.000,6,0.003,0.000,2438,2213,3078
$GC,440,-1.00,-146.6,25.9,-7.0,33,446,0.30,2.42,0.00,0.000,4,0.004,0.004,2514,3651,3079
$GC,750,-1.00,-146.6,47.0,-6.9,60,756,0.28,3.15,0.00,0.000,6,0.004,0.004,2437,1909,3078
$GC,787,-1.00,-146.6,49.6,-6.8,63,790,0.43,0.00,0.00,0.000,6,0.004,0.000,2510,1910,3077
$GC,819,-1.00,-146.6,51.7,-6.6,66,821,0.30,0.00,0.00,0.000,6,0.004,0.000,2434,1911,3078
$GC,851,-1.00,-146.6,53.8,-6.5,69,853,0.40,0.00,0.00,0.000,6,0.004,0.000,2508,1909,3078
$GC,883,-1.00,-146.6,55.9,-6.7,72,885,0.30,0.00,0.00,0.000,6,0.003,0.000,2429,1909,3077
$GC,915,-1.00,-146.6,57.9,-6.4,75,917,0.35,0.00,0.00,0.000,6,0.004,0.000,2504,1909,3078
$GC,947,-1.00,-146.6,60.0,-6.5,78,953,0.28,3.05,0.00,0.000,4,0.005,0.004,2431,3669,3078
$GC,1021,-1.00,-146.6,64.8,-6.6,84,1027,0.30,2.78,0.00,0.000,6,0.004,0.004,2498,1921,3079
$GC,1059,-1.00,-146.6,67.4,-6.8,87,1061,0.38,0.00,0.00,0.000,6,0.003,0.000,2427,1921,3078
$GC,1090,-1.00,-146.6,69.4,-6.4,90,1092,0.30,0.00,0.00,0.000,6,0.004,0.000,2505,1922,3078
$GC,1122,-1.00,-146.6,71.4,-6.4,93,1125,0.35,0.00,0.00,0.000,6,0.004,0.000,2425,1921,3078
$GC,1154,-1.00,-146.6,73.5,-6.3,96,1160,0.35,2.72,0.00,0.000,4,0.004,0.004,2500,3573,3078
$STATE,1409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1409,begin apogee
$GC,1419,-0.31,0.0,90.3,6.6,118,1546,0.57,0.00,122.38,0.005,6,0.004,0.000,2618,1958,2473
$STATE,1547,end apogee,CONTROL_FINISHED_OK
$STATE,1547,begin climb
$GC,1550,1.00,146.6,92.1,0.0,131,1677,1.77,0.00,121.43,0.005,6,0.004,0.000,2956,1959,1875
$GC,1705,1.00,146.6,83.7,7.1,146,1707,0.35,0.00,0.00,0.000,6,0.003,0.000,2878,1959,1875
$GC,1736,1.00,146.6,81.6,6.7,149,1742,0.30,3.03,0.00,0.000,4,0.004,0.004,2955,3665,1875
$GC,2012,1.00,146.6,61.4,8.2,173,2019,0.30,3.15,0.00,0.000,6,0.005,0.004,2881,1875,1875
$GC,2050,1.00,146.6,58.7,7.5,176,2052,0.32,0.00,0.00,0.000,6,0.003,0.000,2916,1877,1875
$GC,2082,1.00,146.6,56.3,7.5,179,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1876,1874
$GC,2114,1.00,146.6,53.9,7.3,182,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1875,1875
$GC,2146,1.00,146.6,51.6,7.5,185,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1876,1875
$GC,2178,1.00,146.6,49.3,7.2,188,2183,0.00,2.83,0.00,0.000,4,0.000,0.004,2917,3626,1875
$GC,2367,1.00,146.6,35.9,7.1,204,2374,0.00,2.65,0.00,0.000,6,0.000,0.004,2918,1983,1876
$GC,2406,1.00,146.6,33.3,7.2,208,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1983,1875
$GC,2437,1.00,146.6,31.1,6.7,211,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1983,1875
$GC,2469,1.00,146.6,29.0,6.7,214,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1984,1875
$GC,2501,1.00,146.6,26.8,6.9,217,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1986,1874
$GC,2533,1.00,146.6,24.7,6.9,220,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1982,1875
$GC,2565,1.00,146.6,22.6,6.6,223,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1982,1875
$GC,2597,1.00,146.6,20.3,6.9,226,2601,0.00,2.78,0.00,0.000,4,0.000,0.004,2916,3650,1876
$GC,2816,1.00,146.6,6.1,7.5,245,2821,0.00,2.97,0.00,0.000,6,0.000,0.004,2915,1908,1874
$GC,2853,1.00,146.6,3.6,6.6,248,2858,0.00,2.53,0.00,0.000,4,0.000,0.004,2917,552,1874
$STATE,2882,end climb,SURFACE_DEPTH_REACHED
$STATE,2883,begin surface coast
$FINISH,0.4,0.997013
$STATE,2917,end surface coast,CONTROL_FINISHED_OK
$STATE,2917,begin surface
$SM_CCo,3016,175.60,0.004,23,0,1045,350.04
$SM_GC,0.00,0.00,0.00,175.60,0.000,0.000,0.004,145,2199,1045,-11.71,3.70,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.049855
$HUMID,1735
$INTERNAL_PRESSURE,12.52
$TCM_TEMP,15.00
$24V_AH,23.7,47.039
$10V_AH,9.7,43.387
$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,35.900,39.250,243.800,175.600,0.000,0.000,0.000,111.284,0.000,0.000,28.408,535.403,1559.897,672.508,377.130,638.131,33.368,998.714,0.000,293.849,0.000,0.000,0.000
$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,198.298,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6453,253
$CAP_FILE_SIZE,82143,8
$CFSIZE,260165632,245833728
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,88,155,23,0
$GPS,210708,160748,4806.341,-12222.125,22,1.1,22,18.0