version: 66.05
glider: 80
mission: 10
dive: 346
start: 7 18 108 23 3 52
data:
$ID,80
$MISSION,10
$DIVE,346
$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,40
$T_MISSION,60
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$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,-23032.787
$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
$GPS1,225530,4807.032,-12223.165,16,1.1,16,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,230301,4807.012,-12223.146,18,1.1,18,18.0
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.148,-0.184
$KALMAN_X,10488.6,182.6,23.8,-9816.9,-53.6
$KALMAN_Y,-4413.5,-220.4,141.7,2999.3,40.5
$MHEAD_RNG_PITCHd_Wd,123.1,2351,-14.0,-7.500
$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,-1.06,-146.6,0.0,0.0,0,164,0.00,0.00,-67.78,0.000,6,0.000,0.000,145,2184,3079
$GC,168,-1.06,-146.6,0.4,-0.2,7,189,11.68,2.65,0.00,0.000,4,0.004,0.004,2488,529,3079
$GC,325,-1.06,-146.6,12.9,-6.6,21,331,0.30,2.95,0.00,0.000,6,0.004,0.004,2414,2239,3080
$GC,362,-1.06,-146.6,15.4,-6.6,24,369,0.32,3.15,0.00,0.000,4,0.004,0.004,2488,486,3080
$GC,673,-1.06,-146.6,36.7,-6.4,51,679,0.30,3.03,0.00,0.000,6,0.005,0.004,2412,2253,3079
$GC,711,-1.06,-146.6,39.1,-6.5,54,713,0.45,0.00,0.00,0.000,6,0.003,0.000,2484,2253,3079
$GC,742,-1.06,-146.6,41.3,-6.7,57,745,0.43,0.00,0.00,0.000,6,0.003,0.000,2410,2253,3079
$GC,775,-1.06,-146.6,43.4,-6.7,60,777,0.35,0.00,0.00,0.000,6,0.004,0.000,2448,2253,3080
$GC,806,-1.06,-146.6,45.5,-6.5,63,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2254,3080
$GC,838,-1.06,-146.6,47.5,-6.6,66,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2253,3080
$GC,870,-1.06,-146.6,49.6,-6.5,69,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2253,3078
$GC,902,-1.06,-146.6,51.6,-6.4,72,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2253,3078
$GC,934,-1.06,-146.6,53.8,-6.8,75,938,0.00,2.28,0.00,0.000,4,0.000,0.004,2448,3624,3079
$GC,973,-1.06,-146.6,56.3,-6.9,78,978,0.00,2.65,0.00,0.000,6,0.000,0.004,2448,1971,3079
$GC,1011,-1.06,-146.6,58.8,-6.7,81,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1972,3080
$GC,1043,-1.06,-146.6,60.8,-6.3,84,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1972,3079
$GC,1074,-1.06,-146.6,62.8,-6.3,87,1079,0.00,2.80,0.00,0.000,4,0.000,0.004,2448,3605,3080
$GC,1377,-1.06,-146.6,83.3,-7.5,113,1383,0.00,2.72,0.00,0.000,6,0.000,0.004,2449,1938,3078
$GC,1415,-1.06,-146.6,85.7,-6.5,117,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1938,3080
$GC,1447,-1.06,-146.6,87.8,-6.6,120,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1938,3080
$GC,1478,-1.06,-146.6,89.9,-6.5,123,1482,0.00,1.42,0.00,0.000,3,0.000,0.004,2449,2765,3079
$STATE,1483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1483,begin apogee
$GC,1491,-0.31,0.0,90.2,6.4,123,1618,1.23,0.00,122.78,0.005,6,0.004,0.000,2674,1938,2473
$STATE,1619,end apogee,CONTROL_FINISHED_OK
$STATE,1619,begin climb
$GC,1622,1.06,146.6,91.9,0.0,136,1748,1.30,0.00,120.47,0.005,6,0.004,0.000,2972,1937,1876
$GC,1778,1.08,163.4,83.4,6.9,151,1797,0.30,0.00,15.98,0.005,6,0.003,0.000,2896,1937,1805
$GC,1828,1.09,172.0,79.7,7.2,156,1840,0.30,0.00,8.77,0.004,6,0.003,0.000,2968,1939,1769
$GC,1870,1.10,184.1,76.8,7.1,160,1891,0.28,2.70,11.82,0.005,4,0.004,0.003,2892,3585,1721
$GC,2094,1.10,184.1,61.1,7.7,180,2100,0.30,3.03,0.00,0.000,6,0.004,0.004,2964,1929,1721
$GC,2131,1.10,184.1,58.1,8.3,183,2133,0.32,0.00,0.00,0.000,6,0.004,0.000,2928,1928,1719
$GC,2163,1.10,184.1,55.6,7.8,186,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,1929,1721
$GC,2195,1.10,184.1,53.1,7.9,189,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1928,1720
$GC,2227,1.10,184.1,50.6,7.9,192,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,1928,1721
$GC,2259,1.10,184.1,48.1,7.8,195,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1929,1721
$GC,2291,1.11,188.4,45.8,7.4,198,2300,0.00,0.00,5.55,0.004,6,0.000,0.000,2927,1928,1704
$GC,2333,1.11,188.6,42.7,7.5,202,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1929,1703
$GC,2364,1.11,193.7,40.3,7.3,205,2374,0.00,0.00,6.22,0.005,6,0.000,0.000,2927,1928,1682
$GC,2406,1.12,197.7,37.3,7.4,209,2416,0.00,0.00,5.15,0.004,6,0.000,0.000,2928,1929,1666
$GC,2448,1.12,197.7,34.2,7.5,213,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1929,1665
$GC,2480,1.14,212.5,32.0,7.0,216,2499,0.00,0.00,13.80,0.005,6,0.000,0.000,2928,1928,1605
$GC,2532,1.14,215.4,28.1,7.4,221,2542,0.00,0.00,4.12,0.004,6,0.000,0.000,2931,1929,1594
$GC,2574,1.15,221.0,25.1,7.3,225,2584,0.00,0.00,6.53,0.004,6,0.000,0.000,2926,1929,1571
$GC,2616,1.15,221.0,22.0,7.7,229,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1928,1572
$GC,2648,1.16,227.2,19.7,7.3,232,2662,0.00,2.83,7.40,0.005,4,0.000,0.004,2927,3667,1545
$GC,2888,1.16,227.2,2.9,9.4,253,2894,0.00,3.08,0.00,0.000,6,0.000,0.004,2927,1907,1544
$STATE,2902,end climb,SURFACE_DEPTH_REACHED
$STATE,2902,begin surface coast
$FINISH,0.7,0.997262
$STATE,2924,end surface coast,CONTROL_FINISHED_OK
$STATE,2925,begin surface
$SM_CCo,3023,106.60,0.004,14,0,1045,350.04
$SM_GC,0.00,0.00,0.00,106.60,0.000,0.000,0.004,146,2154,1045,-11.70,2.37,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.049855
$HUMID,1552
$INTERNAL_PRESSURE,12.5395
$TCM_TEMP,15.00
$24V_AH,23.8,40.017
$10V_AH,9.7,41.765
$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,31.900,40.125,328.600,106.600,0.000,0.000,0.000,138.970,0.000,0.000,18.855,524.070,1498.016,644.482,366.136,643.887,33.360,976.476,0.000,294.174,0.000,0.000,0.000
$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,200.344,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6448,257
$CAP_FILE_SIZE,83732,8
$CFSIZE,260165632,247664640
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,77,180,14,0
$GPS,180708,235911,4806.851,-12222.747,15,1.1,16,18.0