version: 66.05
glider: 80
mission: 11
dive: 186
start: 8 2 108 16 11 30
data:
$ID,80
$MISSION,11
$DIVE,186
$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,-28973.15
$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
$GPS1,160351,4805.681,-12221.585,32,1.1,32,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,161035,4805.647,-12221.576,20,1.1,20,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.070,-0.140
$KALMAN_X,17699.6,180.6,-76.2,-15310.0,61.4
$KALMAN_Y,-1068.5,-49.2,191.8,-2904.0,-22.9
$MHEAD_RNG_PITCHd_Wd,135.3,1394,-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,125,begin dive
$GC,128,-0.84,-146.6,0.0,0.0,0,195,0.00,0.00,-60.28,0.000,6,0.000,0.000,145,2149,3078
$GC,198,-0.84,-146.6,0.8,-1.3,7,219,12.05,2.42,0.00,0.000,4,0.004,0.004,2566,3583,3077
$GC,523,-0.84,-146.6,26.9,-5.4,36,529,0.45,2.78,0.00,0.000,6,0.004,0.004,2456,1934,3077
$GC,560,-0.84,-146.6,29.0,-5.9,39,566,0.38,2.67,0.00,0.000,4,0.004,0.004,2536,3584,3077
$GC,825,-0.84,-146.6,44.7,-5.9,62,830,0.28,2.65,0.00,0.000,6,0.004,0.004,2459,1918,3078
$GC,862,-0.84,-146.6,46.7,-5.5,65,864,0.40,0.00,0.00,0.000,6,0.003,0.000,2532,1918,3077
$GC,894,-0.84,-146.6,48.5,-5.5,68,896,0.30,0.00,0.00,0.000,6,0.004,0.000,2453,1920,3078
$GC,926,-0.84,-146.6,50.3,-5.5,71,928,0.50,0.00,0.00,0.000,6,0.004,0.000,2563,1920,3078
$GC,958,-0.84,-146.6,52.0,-5.6,74,960,0.47,0.00,0.00,0.000,6,0.004,0.000,2449,1920,3077
$GC,989,-0.84,-146.6,53.7,-5.5,77,992,0.45,0.00,0.00,0.000,6,0.005,0.000,2556,1918,3078
$GC,1021,-0.84,-146.6,55.4,-5.2,80,1024,0.43,0.00,0.00,0.000,6,0.004,0.000,2483,1920,3077
$GC,1053,-0.84,-146.6,57.0,-5.1,83,1055,0.43,0.00,0.00,0.000,6,0.004,0.000,2556,1918,3078
$GC,1085,-0.84,-146.6,58.7,-5.1,86,1087,0.30,0.00,0.00,0.000,6,0.003,0.000,2481,1918,3078
$GC,1117,-0.84,-146.6,60.3,-5.2,89,1119,0.35,0.00,0.00,0.000,6,0.003,0.000,2556,1918,3078
$GC,1149,-0.84,-146.6,62.0,-5.2,92,1151,0.40,0.00,0.00,0.000,6,0.004,0.000,2482,1918,3077
$GC,1181,-0.84,-146.6,63.8,-5.6,95,1183,0.30,0.00,0.00,0.000,6,0.003,0.000,2556,1920,3078
$GC,1213,-0.84,-146.6,65.6,-5.6,98,1215,0.43,0.00,0.00,0.000,6,0.003,0.000,2485,1920,3077
$GC,1246,-0.84,-146.6,67.4,-5.7,101,1248,0.35,0.00,0.00,0.000,6,0.003,0.000,2562,1918,3078
$GC,1276,-0.84,-146.6,69.0,-5.4,104,1279,0.57,0.00,0.00,0.000,6,0.003,0.000,2451,1920,3078
$GC,1308,-0.84,-146.6,70.9,-5.8,107,1310,0.57,0.00,0.00,0.000,6,0.004,0.000,2564,1921,3077
$GC,1340,-0.84,-146.6,72.8,-5.8,110,1342,0.57,0.00,0.00,0.000,6,0.003,0.000,2454,1918,3078
$GC,1372,-0.84,-146.6,74.7,-5.8,113,1374,0.57,0.00,0.00,0.000,6,0.003,0.000,2565,1918,3077
$GC,1404,-0.84,-146.6,76.5,-5.9,116,1413,0.50,3.17,0.00,0.000,4,0.004,0.004,2448,3658,3079
$GC,1719,-0.84,-146.6,93.8,-5.1,144,1728,0.45,3.15,0.00,0.000,6,0.004,0.004,2560,1935,3077
$STATE,1747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1747,begin apogee
$GC,1754,-0.31,0.0,95.4,5.0,147,1881,0.68,0.00,122.50,0.005,6,0.004,0.000,2667,2244,2473
$STATE,1882,end apogee,CONTROL_FINISHED_OK
$STATE,1882,begin climb
$GC,1885,0.84,146.6,96.6,0.0,160,2012,1.58,0.00,120.95,0.005,6,0.004,0.000,2935,2246,1874
$GC,2044,0.84,146.6,89.1,5.9,176,2046,0.60,0.00,0.00,0.000,6,0.003,0.000,2821,2245,1874
$GC,2075,0.84,146.6,87.1,6.4,179,2078,0.30,0.00,0.00,0.000,6,0.003,0.000,2900,2244,1874
$GC,2107,0.84,146.6,85.2,5.9,182,2109,0.30,0.00,0.00,0.000,6,0.004,0.000,2820,2245,1875
$GC,2139,0.84,146.6,83.4,5.9,185,2142,0.52,0.00,0.00,0.000,6,0.004,0.000,2894,2243,1875
$GC,2171,0.84,146.6,81.4,5.8,188,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2243,1875
$GC,2203,0.84,146.6,79.6,5.6,191,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2244,1875
$GC,2235,0.84,146.6,77.9,5.7,194,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2244,1875
$GC,2267,0.84,146.6,76.0,5.6,197,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2244,1874
$GC,2299,0.84,146.6,74.2,5.7,200,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2244,1874
$GC,2330,0.84,146.6,72.4,5.7,203,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2244,1875
$GC,2362,0.84,146.6,70.5,5.8,206,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2243,1875
$GC,2394,0.84,146.6,68.6,5.8,209,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2244,1874
$GC,2426,0.84,146.6,66.7,6.1,212,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2242,1874
$GC,2458,0.84,146.6,64.8,5.9,215,2463,0.40,2.28,0.00,0.000,4,0.004,0.003,2818,3588,1875
$GC,2643,0.84,146.6,54.1,6.3,231,2649,0.45,2.65,0.00,0.000,6,0.004,0.004,2935,1928,1875
$GC,2681,0.84,146.6,51.7,6.6,234,2687,0.43,2.65,0.00,0.000,4,0.004,0.003,2822,494,1875
$GC,2991,0.84,146.6,33.5,5.9,261,3001,0.47,3.03,0.00,0.000,6,0.004,0.004,2932,2260,1874
$GC,3033,0.84,146.6,31.2,5.5,265,3035,0.57,0.00,0.00,0.000,6,0.003,0.000,2819,2259,1874
$GC,3065,0.84,146.6,29.5,5.3,268,3067,0.50,0.00,0.00,0.000,6,0.003,0.000,2930,2262,1875
$GC,3096,0.84,146.6,27.8,5.3,271,3099,0.47,0.00,0.00,0.000,6,0.004,0.000,2821,2259,1874
$GC,3128,0.84,146.6,26.1,5.2,274,3133,0.45,2.30,0.00,0.000,4,0.004,0.004,2935,3607,1874
$GC,3296,0.84,146.6,17.3,6.4,288,3303,0.47,2.85,0.00,0.000,6,0.003,0.004,2822,1964,1874
$GC,3334,0.84,146.6,15.4,5.4,292,3339,0.40,2.28,0.00,0.000,4,0.004,0.004,2896,513,1874
$GC,3644,0.88,180.3,2.3,4.0,319,3656,0.00,2.92,6.30,0.005,2,0.000,0.004,2895,2247,1847
$STATE,3657,end climb,SURFACE_DEPTH_REACHED
$STATE,3657,begin surface coast
$FINISH,1.5,0.997280
$STATE,3666,end surface coast,CONTROL_FINISHED_OK
$STATE,3666,begin surface
$SM_CCo,3762,127.78,0.004,17,0,1251,300.00
$SM_GC,0.00,0.00,0.00,127.78,0.000,0.000,0.004,147,1924,1251,-11.71,-4.07,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.049088
$HUMID,1610
$INTERNAL_PRESSURE,12.5591
$TCM_TEMP,15.00
$24V_AH,23.8,20.089
$10V_AH,9.7,39.211
$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,44.425,38.700,249.750,127.775,0.000,0.000,0.000,81.976,0.000,0.000,21.062,661.451,2021.912,615.174,457.059,685.676,33.357,1018.115,0.000,371.967,0.000,0.000,0.000
$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,250.839,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,9583,321
$CAP_FILE_SIZE,80678,8
$CFSIZE,260165632,253329408
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,92,158,17,0
$GPS,020808,172034,4805.337,-12221.368,30,1.1,31,18.0