version: 66.05
glider: 80
mission: 11
dive: 204
start: 8 3 108 15 38 56
data:
$ID,80
$MISSION,11
$DIVE,204
$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,-29389.707
$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,0
$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
$GPS1,153111,4805.897,-12221.788,34,1.1,34,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-50.0
$GPS2,153800,4805.901,-12221.814,18,1.1,18,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.073,-0.139
$KALMAN_X,18374.5,70.1,158.8,-16406.0,19.7
$KALMAN_Y,-258.1,-61.5,-45.5,-2995.9,34.1
$MHEAD_RNG_PITCHd_Wd,134.2,1949,-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,129,-0.84,-146.6,0.0,0.0,0,192,0.00,0.00,-60.70,0.000,6,0.000,0.000,146,2192,3081
$GC,196,-0.84,-146.6,0.6,-1.3,6,217,12.12,2.65,0.00,0.000,4,0.004,0.004,2551,554,3080
$GC,446,-0.84,-146.6,20.0,-5.7,28,453,0.30,2.78,0.00,0.000,6,0.004,0.004,2473,2194,3081
$GC,484,-0.84,-146.6,22.0,-5.3,32,486,0.28,0.00,0.00,0.000,6,0.003,0.000,2548,2196,3080
$GC,516,-0.84,-146.6,23.5,-5.2,35,518,0.32,0.00,0.00,0.000,6,0.003,0.000,2477,2193,3080
$GC,548,-0.84,-146.6,25.1,-4.9,38,551,0.30,0.00,0.00,0.000,6,0.004,0.000,2551,2194,3082
$GC,580,-0.84,-146.6,26.9,-5.2,41,582,0.30,0.00,0.00,0.000,6,0.004,0.000,2473,2197,3080
$GC,612,-0.84,-146.6,28.6,-5.4,44,614,0.30,0.00,0.00,0.000,6,0.003,0.000,2548,2193,3080
$GC,643,-0.84,-146.6,30.4,-5.4,47,646,0.30,0.00,0.00,0.000,6,0.004,0.000,2475,2194,3080
$GC,675,-0.84,-146.6,32.1,-5.6,50,678,0.43,0.00,0.00,0.000,6,0.003,0.000,2549,2192,3080
$GC,707,-0.84,-146.6,33.8,-5.4,53,709,0.28,0.00,0.00,0.000,6,0.003,0.000,2476,2194,3079
$GC,739,-0.84,-146.6,35.5,-5.3,56,741,0.28,0.00,0.00,0.000,6,0.003,0.000,2551,2194,3080
$GC,771,-0.84,-146.6,37.2,-5.1,59,776,0.28,2.50,0.00,0.000,4,0.004,0.004,2475,3619,3080
$GC,1024,-0.84,-146.6,50.2,-5.1,81,1030,0.30,2.88,0.00,0.000,6,0.003,0.004,2546,1952,3080
$GC,1062,-0.84,-146.6,52.0,-4.9,84,1064,0.43,0.00,0.00,0.000,6,0.003,0.000,2476,1951,3081
$GC,1093,-0.84,-146.6,53.6,-4.8,87,1095,0.28,0.00,0.00,0.000,6,0.005,0.000,2548,1952,3079
$GC,1126,-0.84,-146.6,55.2,-4.8,90,1128,0.32,0.00,0.00,0.000,6,0.003,0.000,2513,1952,3080
$GC,1157,-0.84,-146.6,56.7,-5.1,93,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1953,3080
$GC,1190,-0.84,-146.6,58.3,-4.9,96,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1952,3080
$GC,1221,-0.84,-146.6,59.9,-4.9,99,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1951,3081
$GC,1253,-0.84,-146.6,61.4,-4.9,102,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1951,3082
$GC,1284,-0.84,-146.6,63.0,-5.1,105,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1952,3080
$GC,1316,-0.84,-146.6,64.5,-4.6,108,1321,0.00,2.78,0.00,0.000,4,0.000,0.004,2512,3603,3080
$GC,1625,-0.84,-146.6,79.2,-5.1,135,1630,0.00,2.85,0.00,0.000,6,0.000,0.004,2512,1965,3080
$GC,1662,-0.84,-146.6,81.0,-4.9,138,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1963,3080
$GC,1694,-0.84,-146.6,82.6,-4.8,141,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1964,3080
$GC,1726,-0.84,-146.6,84.2,-5.0,144,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1964,3079
$GC,1758,-0.84,-146.6,85.7,-4.9,147,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1965,3080
$GC,1790,-0.84,-146.6,87.3,-4.9,150,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1964,3080
$GC,1822,-0.84,-146.6,89.0,-5.2,153,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1962,3081
$GC,1854,-0.84,-146.6,90.5,-4.9,156,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1965,3080
$GC,1885,-0.84,-146.6,92.0,-4.7,159,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1963,3080
$GC,1917,-0.84,-146.6,93.6,-4.9,162,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1964,3080
$STATE,1946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1946,begin apogee
$GC,1953,-0.31,0.0,95.1,4.8,165,2081,0.85,0.00,122.85,0.005,6,0.004,0.000,2667,2172,2472
$STATE,2081,end apogee,CONTROL_FINISHED_OK
$STATE,2082,begin climb
$GC,2085,0.84,146.6,96.5,0.0,178,2214,1.25,2.78,120.65,0.005,4,0.004,0.003,2926,496,1875
$GC,2518,0.84,146.6,73.3,5.5,218,2525,0.30,2.67,0.00,0.000,6,0.004,0.004,2844,2166,1874
$GC,2556,0.84,146.6,71.2,5.8,222,2558,0.43,0.00,0.00,0.000,6,0.004,0.000,2920,2166,1875
$GC,2588,0.84,146.6,69.5,5.3,225,2590,0.38,0.00,0.00,0.000,6,0.004,0.000,2848,2166,1876
$GC,2619,0.84,146.6,67.8,5.6,228,2621,0.35,0.00,0.00,0.000,6,0.003,0.000,2923,2166,1875
$GC,2651,0.84,146.6,65.9,5.5,231,2653,0.38,0.00,0.00,0.000,6,0.003,0.000,2848,2166,1875
$GC,2683,0.84,146.6,64.3,5.3,234,2685,0.40,0.00,0.00,0.000,6,0.004,0.000,2929,2165,1874
$GC,2715,0.84,146.6,62.5,5.6,237,2717,0.57,0.00,0.00,0.000,6,0.004,0.000,2818,2166,1874
$GC,2747,0.84,146.6,60.6,5.8,240,2749,0.47,0.00,0.00,0.000,6,0.004,0.000,2929,2166,1875
$GC,2779,0.84,146.6,58.8,5.7,243,2781,0.45,0.00,0.00,0.000,6,0.004,0.000,2817,2166,1876
$GC,2810,0.84,146.6,57.0,5.5,246,2813,0.52,0.00,0.00,0.000,6,0.004,0.000,2924,2167,1876
$GC,2842,0.84,146.6,55.3,5.7,249,2844,0.32,0.00,0.00,0.000,6,0.003,0.000,2887,2167,1876
$GC,2874,0.84,146.6,53.4,5.7,252,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2167,1875
$GC,2906,0.84,146.6,51.4,6.1,255,2911,0.00,2.78,0.00,0.000,4,0.000,0.004,2885,504,1875
$GC,3215,0.84,146.6,34.2,5.5,282,3220,0.00,2.95,0.00,0.000,6,0.000,0.004,2886,2252,1875
$GC,3252,0.84,146.6,32.1,5.5,285,3257,0.00,2.95,0.00,0.000,4,0.000,0.004,2885,484,1875
$GC,3382,0.84,146.6,24.9,5.6,296,3387,0.00,2.78,0.00,0.000,6,0.000,0.004,2887,2208,1875
$GC,3419,0.84,146.6,22.8,5.5,299,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2207,1875
$GC,3451,0.84,146.6,21.0,5.6,302,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2208,1875
$GC,3483,0.84,146.6,19.3,5.3,305,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2208,1876
$GC,3515,0.84,146.6,17.4,6.1,308,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2207,1875
$GC,3547,0.84,146.6,15.5,6.0,311,3551,0.00,2.85,0.00,0.000,4,0.000,0.004,2886,556,1875
$STATE,3823,end climb,SURFACE_DEPTH_REACHED
$STATE,3823,begin surface coast
$FINISH,1.6,0.996985
$STATE,3830,end surface coast,CONTROL_FINISHED_OK
$STATE,3831,begin surface
$SM_CCo,3929,132.43,0.004,18,0,1251,300.00
$SM_GC,-0.00,0.00,0.00,132.43,0.000,0.000,0.004,147,2183,1251,-11.71,3.22,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.049855
$HUMID,1558
$INTERNAL_PRESSURE,12.5591
$TCM_TEMP,15.00
$24V_AH,23.8,22.607
$10V_AH,9.7,39.763
$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,37.875,39.100,243.500,132.425,0.000,0.000,0.000,84.227,0.000,0.000,18.908,698.762,2151.526,607.846,463.376,700.733,33.346,1025.401,0.000,381.986,0.000,0.000,0.000
$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,265.090,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,9581,336
$CAP_FILE_SIZE,84307,8
$CFSIZE,260165632,252723200
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,77,152,18,0
$GPS,030808,165037,4805.643,-12221.549,11,1.1,11,18.0