version: 66.05
glider: 80
mission: 11
dive: 185
start: 8 2 108 14 56 16
data:
$ID,80
$MISSION,11
$DIVE,185
$D_SURF,2
$D_FLARE,3
$D_TGT,95
$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,63
$T_MISSION,75
$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,0.0043390002
$HD_B,0.013382
$HD_C,5.8987e-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,300
$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,-28951.457
$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,2
$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
$GPS1,144835,4805.989,-12221.715,31,1.1,31,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,145521,4805.969,-12221.682,21,1.1,22,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.054,-0.147
$KALMAN_X,17721.2,147.0,1.2,-15509.9,21.6
$KALMAN_Y,-998.0,1.9,101.7,-2340.5,75.2
$MHEAD_RNG_PITCHd_Wd,141.8,1983,-10.6,-5.026
$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,125,end surface,CONTROL_FINISHED_OK
$STATE,126,begin dive
$GC,129,-0.84,-146.6,0.0,0.0,0,192,0.00,0.00,-60.80,0.000,6,0.000,0.000,144,1919,3079
$GC,196,-0.84,-146.6,0.6,-1.6,6,217,12.40,2.90,0.00,0.000,4,0.004,0.004,2566,3667,3081
$GC,521,-0.84,-146.6,24.1,-6.1,35,527,0.47,2.92,0.00,0.000,6,0.004,0.004,2456,1914,3080
$GC,559,-0.84,-146.6,26.4,-6.2,38,565,0.57,2.83,0.00,0.000,4,0.004,0.004,2567,3673,3081
$GC,868,-0.84,-146.6,45.2,-6.1,65,874,0.47,2.90,0.00,0.000,6,0.004,0.004,2455,1946,3081
$GC,906,-0.84,-146.6,47.4,-6.0,68,908,0.45,0.00,0.00,0.000,6,0.003,0.000,2566,1945,3080
$GC,938,-0.84,-146.6,49.0,-5.4,71,944,0.47,2.83,0.00,0.000,4,0.005,0.004,2456,3678,3080
$GC,1247,-0.84,-146.6,65.2,-5.6,98,1257,0.47,3.05,0.00,0.000,6,0.004,0.004,2566,1938,3080
$GC,1289,-0.84,-146.6,67.4,-5.4,102,1295,0.52,2.65,0.00,0.000,4,0.004,0.004,2456,3593,3080
$GC,1598,-0.84,-146.6,84.9,-5.4,129,1604,0.47,2.83,0.00,0.000,6,0.004,0.004,2564,1914,3080
$GC,1636,-0.84,-146.6,86.9,-5.3,132,1642,0.40,3.03,0.00,0.000,4,0.004,0.004,2461,3663,3080
$STATE,1797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1797,begin apogee
$GC,1807,-0.31,0.0,95.1,4.7,146,1934,1.23,0.00,123.10,0.005,6,0.004,0.000,2679,1910,2472
$STATE,1935,end apogee,CONTROL_FINISHED_OK
$STATE,1935,begin climb
$GC,1938,0.84,146.6,96.4,0.0,159,2063,1.00,0.00,120.45,0.005,6,0.004,0.000,2909,1910,1874
$GC,2091,0.84,146.6,89.0,6.2,174,2093,0.30,0.00,0.00,0.000,6,0.003,0.000,2834,1910,1874
$GC,2123,0.84,146.6,87.1,6.0,177,2125,0.32,0.00,0.00,0.000,6,0.003,0.000,2871,1911,1874
$GC,2155,0.84,146.6,85.3,5.9,180,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1912,1875
$GC,2186,0.84,146.6,83.5,5.7,183,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1910,1874
$GC,2218,0.84,146.6,81.6,6.0,186,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1911,1875
$GC,2250,0.84,146.6,79.8,5.6,189,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1910,1873
$GC,2282,0.84,146.6,78.1,5.4,192,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1911,1874
$GC,2314,0.84,146.6,76.4,5.3,195,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1910,1874
$GC,2346,0.84,146.6,74.7,5.3,198,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1910,1874
$GC,2378,0.84,146.6,72.9,5.5,201,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1909,1875
$GC,2409,0.84,146.6,71.1,5.6,204,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1910,1874
$GC,2441,0.84,146.6,69.3,6.0,207,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1910,1874
$GC,2473,0.84,146.6,67.4,5.7,210,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1910,1874
$GC,2506,0.84,146.6,65.5,5.9,213,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1910,1874
$GC,2537,0.84,146.6,63.5,6.2,216,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1910,1874
$GC,2569,0.84,146.6,61.5,6.5,219,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1911,1875
$GC,2601,0.84,146.6,59.5,6.2,222,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1911,1875
$GC,2632,0.84,146.6,57.5,6.3,225,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1910,1875
$GC,2664,0.84,146.6,55.4,6.7,228,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1910,1874
$GC,2696,0.84,146.6,53.4,6.2,231,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1911,1874
$GC,2728,0.84,146.6,51.5,6.1,234,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1910,1874
$GC,2760,0.84,146.6,49.6,5.8,237,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1911,1876
$GC,2792,0.84,146.6,47.8,5.8,240,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1911,1874
$GC,2824,0.84,146.6,46.1,5.4,243,2829,0.00,2.95,0.00,0.000,4,0.000,0.004,2870,3621,1874
$GC,3006,0.84,146.6,36.6,5.7,258,3012,0.00,2.90,0.00,0.000,6,0.000,0.004,2872,1885,1874
$GC,3043,0.84,146.6,34.0,6.4,262,3048,0.00,2.53,0.00,0.000,4,0.000,0.003,2873,465,1875
$GC,3322,0.89,185.1,17.9,3.8,286,3362,0.00,2.97,33.03,0.005,6,0.000,0.004,2872,2228,1716
$GC,3402,0.89,187.0,14.2,5.0,294,3403,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2228,1717
$GC,3433,0.89,187.0,12.4,5.4,297,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2229,1717
$GC,3465,0.89,187.0,10.2,6.8,300,3470,0.00,2.95,0.00,0.000,4,0.000,0.004,2871,489,1717
$GC,3538,0.92,211.7,6.8,4.3,306,3563,0.00,2.90,18.65,0.005,6,0.000,0.004,2873,2249,1608
$GC,3596,0.93,219.1,4.2,4.8,311,3609,0.35,2.42,6.55,0.004,4,0.003,0.004,2946,3665,1579
$GC,3644,1.02,295.4,2.7,2.7,315,3668,0.30,3.03,17.62,0.005,2,0.004,0.004,2876,1893,1476
$STATE,3669,end climb,SURFACE_DEPTH_REACHED
$STATE,3669,begin surface coast
$FINISH,-0.0,0.997226
$STATE,3711,end surface coast,CONTROL_FINISHED_OK
$STATE,3711,begin surface
$SM_CCo,3807,48.60,0.004,6,0,1250,300.00
$SM_GC,0.00,0.00,0.00,48.60,0.000,0.000,0.004,144,2149,1250,-11.72,2.23,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.049088
$HUMID,1671
$INTERNAL_PRESSURE,12.5786
$TCM_TEMP,15.00
$24V_AH,23.8,19.954
$10V_AH,9.7,39.181
$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,34.150,51.850,319.400,48.600,0.000,0.000,0.000,83.274,0.000,0.000,22.083,640.096,2029.244,524.653,478.451,679.958,33.362,942.500,0.000,389.501,0.000,0.000,0.000
$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,250.037,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,9593,321
$CAP_FILE_SIZE,75985,8
$CFSIZE,260165632,253366272
$ERRORS,0,1,0,0,0,0,0,0,1,0,0,87,215,6,0
$GPS,020808,160351,4805.681,-12221.585,32,1.1,32,18.0