version: 66.05
glider: 80
mission: 10
dive: 351
start: 7 19 108 4 4 1
data:
$ID,80
$MISSION,10
$DIVE,351
$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,-23174.971
$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
$GPS1,035611,4805.968,-12222.006,6,1.1,6,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,040311,4805.955,-12221.993,27,1.1,27,18.0
$SPEED_LIMITS,0.075,0.236
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.124,0.201
$KALMAN_X,10608.7,37.7,-39.7,-8312.4,-16.1
$KALMAN_Y,-4268.1,-13.4,-13.2,853.4,-3.7
$MHEAD_RNG_PITCHd_Wd,310.3,4527,-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,90,end surface,CONTROL_FINISHED_OK
$STATE,90,begin dive
$GC,94,-1.06,-146.6,0.0,0.0,0,165,0.00,0.00,-67.15,0.000,6,0.000,0.000,146,1968,3077
$GC,169,-1.06,-146.6,0.4,-0.4,7,190,11.80,2.28,0.00,0.000,4,0.004,0.003,2482,532,3074
$GC,483,-1.06,-146.6,23.9,-6.8,35,488,0.30,2.65,0.00,0.000,6,0.003,0.004,2407,2199,3076
$GC,520,-1.06,-146.6,26.5,-6.9,38,523,0.55,0.00,0.00,0.000,6,0.003,0.000,2520,2200,3076
$GC,552,-1.06,-146.6,28.7,-6.7,41,555,0.50,0.00,0.00,0.000,6,0.004,0.000,2408,2198,3076
$GC,584,-1.06,-146.6,30.9,-6.9,44,590,0.62,2.47,0.00,0.000,4,0.005,0.004,2485,3632,3074
$GC,748,-1.06,-146.6,42.5,-6.9,58,754,0.30,2.85,0.00,0.000,6,0.003,0.004,2412,1966,3076
$GC,786,-1.06,-146.6,45.1,-6.8,61,788,0.38,0.00,0.00,0.000,6,0.004,0.000,2485,1966,3075
$GC,818,-1.06,-146.6,47.2,-6.6,64,820,0.32,0.00,0.00,0.000,6,0.004,0.000,2449,1968,3076
$GC,850,-1.06,-146.6,49.3,-6.9,67,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1965,3075
$GC,881,-1.06,-146.6,51.5,-6.7,70,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1964,3076
$GC,913,-1.06,-146.6,53.7,-6.7,73,918,0.00,2.78,0.00,0.000,4,0.000,0.004,2446,3617,3076
$GC,980,-1.06,-146.6,58.2,-7.2,78,986,0.00,2.90,0.00,0.000,6,0.000,0.004,2448,1887,3075
$GC,1018,-1.06,-146.6,60.6,-6.7,82,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1887,3076
$GC,1049,-1.06,-146.6,62.8,-6.9,85,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1886,3075
$GC,1081,-1.06,-146.6,65.0,-6.8,88,1086,0.00,2.92,0.00,0.000,4,0.000,0.004,2448,3639,3075
$GC,1357,-1.06,-146.6,83.8,-6.9,112,1362,0.00,2.65,0.00,0.000,6,0.000,0.004,2448,1974,3076
$GC,1395,-1.06,-146.6,86.4,-6.8,115,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1973,3076
$GC,1426,-1.06,-146.6,88.6,-6.8,118,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1973,3076
$STATE,1444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1445,begin apogee
$GC,1451,-0.31,0.0,90.0,6.8,120,1579,1.10,0.00,121.93,0.005,6,0.004,0.000,2673,2186,2473
$STATE,1579,end apogee,CONTROL_FINISHED_OK
$STATE,1580,begin climb
$GC,1583,1.06,146.6,92.0,0.0,133,1709,1.35,0.00,120.35,0.005,6,0.004,0.000,2969,2184,1876
$GC,1736,1.06,146.6,83.5,7.8,148,1738,0.30,0.00,0.00,0.000,6,0.003,0.000,2893,2186,1874
$GC,1768,1.06,146.6,80.9,8.0,151,1773,0.40,2.33,0.00,0.000,4,0.004,0.004,2967,3620,1874
$GC,2077,1.06,146.6,55.6,9.0,178,2083,0.30,2.90,0.00,0.000,6,0.004,0.004,2892,1966,1875
$GC,2114,1.06,146.6,52.3,9.0,181,2117,0.35,0.00,0.00,0.000,6,0.003,0.000,2967,1966,1874
$GC,2146,1.06,146.6,49.5,8.6,184,2148,0.45,0.00,0.00,0.000,6,0.004,0.000,2891,1966,1876
$GC,2178,1.06,146.6,46.9,8.1,187,2184,0.30,2.53,0.00,0.000,4,0.005,0.004,2931,518,1875
$GC,2487,1.06,146.6,22.9,7.9,214,2492,0.00,2.85,0.00,0.000,6,0.000,0.004,2929,2194,1875
$GC,2525,1.06,146.6,20.0,7.9,217,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2194,1875
$GC,2557,1.06,146.6,17.6,7.7,220,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2194,1875
$GC,2589,1.06,149.2,15.3,7.4,223,2600,0.00,2.55,4.05,0.004,4,0.000,0.004,2929,3629,1864
$GC,2684,1.06,149.2,7.8,8.3,231,2690,0.00,2.97,0.00,0.000,6,0.000,0.004,2932,1878,1864
$GC,2722,1.06,149.2,4.8,8.0,235,2726,0.00,2.22,0.00,0.000,4,0.000,0.004,2929,530,1864
$STATE,2758,end climb,SURFACE_DEPTH_REACHED
$STATE,2758,begin surface coast
$FINISH,0.8,0.997234
$STATE,2781,end surface coast,CONTROL_FINISHED_OK
$STATE,2781,begin surface
$SM_CCo,2879,173.75,0.004,23,0,1046,350.04
$SM_GC,0.00,0.00,0.00,173.75,0.000,0.000,0.004,147,2150,1046,-11.71,2.26,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.049855
$HUMID,1596
$INTERNAL_PRESSURE,12.52
$TCM_TEMP,15.00
$24V_AH,23.8,40.565
$10V_AH,9.7,41.892
$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,33.200,42.750,246.325,173.750,0.000,0.000,0.000,92.838,0.000,0.000,28.227,502.178,1483.242,664.341,387.380,574.555,33.357,994.979,0.000,307.255,0.000,0.000,0.000
$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,187.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6439,240
$CAP_FILE_SIZE,76356,8
$CFSIZE,260165632,247529472
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,89,174,23,0
$GPS,190708,045840,4806.232,-12222.152,7,1.1,7,18.0