version: 66.05
glider: 80
mission: 11
dive: 205
start: 8 3 108 16 58 9
data:
$ID,80
$MISSION,11
$DIVE,205
$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,-29401.873
$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
$GPS1,165037,4805.643,-12221.549,11,1.1,11,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,165712,4805.642,-12221.563,10,1.1,11,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.084,-0.133
$KALMAN_X,18429.5,120.7,86.1,-16128.1,-28.6
$KALMAN_Y,-268.3,-129.3,77.0,-3520.1,11.8
$MHEAD_RNG_PITCHd_Wd,129.8,1379,-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,-60.83,0.000,6,0.000,0.000,144,2183,3078
$GC,196,-0.84,-146.6,0.6,-1.3,6,217,11.75,2.65,0.00,0.000,4,0.004,0.003,2546,547,3081
$GC,430,-0.84,-146.6,21.7,-5.7,27,436,0.30,2.83,0.00,0.000,6,0.004,0.004,2473,2219,3079
$GC,468,-0.84,-146.6,23.9,-5.7,30,470,0.32,0.00,0.00,0.000,6,0.004,0.000,2509,2217,3078
$GC,500,-0.84,-146.6,25.5,-5.5,33,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2219,3078
$GC,531,-0.84,-146.6,27.2,-5.2,36,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2220,3079
$GC,564,-0.84,-146.6,28.7,-5.0,39,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2219,3078
$GC,596,-0.84,-146.6,30.1,-4.5,42,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2219,3078
$GC,627,-0.84,-146.6,31.7,-4.7,45,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2220,3078
$GC,659,-0.84,-146.6,33.3,-5.0,48,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2218,3078
$GC,691,-0.84,-146.6,34.9,-4.9,51,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2219,3078
$GC,723,-0.84,-146.6,36.5,-5.2,54,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2218,3079
$GC,754,-0.84,-146.6,38.1,-5.1,57,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2220,3079
$GC,786,-0.84,-146.6,39.7,-5.1,60,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2219,3078
$GC,819,-0.84,-146.6,41.4,-5.1,63,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2218,3079
$GC,850,-0.84,-146.6,42.9,-4.8,66,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2218,3078
$GC,882,-0.84,-146.6,44.5,-5.0,69,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2219,3078
$GC,914,-0.84,-146.6,46.1,-4.9,72,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2219,3078
$GC,946,-0.84,-146.6,47.6,-4.9,75,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2220,3078
$GC,978,-0.84,-146.6,49.1,-4.8,78,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2219,3078
$GC,1010,-0.84,-146.6,50.6,-4.7,81,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2220,3079
$GC,1042,-0.84,-146.6,52.1,-4.6,84,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2218,3079
$GC,1074,-0.84,-146.6,53.7,-5.0,87,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2219,3078
$GC,1107,-0.84,-146.6,55.3,-5.0,90,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2219,3079
$GC,1137,-0.84,-146.6,56.9,-5.0,93,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2218,3078
$GC,1169,-0.84,-146.6,58.5,-5.0,96,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2221,3078
$GC,1201,-0.84,-146.6,60.0,-4.9,99,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2218,3078
$GC,1233,-0.84,-146.6,61.6,-4.9,102,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2218,3079
$GC,1265,-0.84,-146.6,63.1,-4.8,105,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2218,3079
$GC,1296,-0.84,-146.6,64.7,-4.9,108,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2218,3078
$GC,1329,-0.84,-146.6,66.3,-5.0,111,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2219,3078
$GC,1360,-0.84,-146.6,67.8,-4.9,114,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2219,3079
$GC,1392,-0.84,-146.6,69.4,-4.9,117,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2220,3078
$GC,1424,-0.84,-146.6,70.9,-4.5,120,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2219,3078
$GC,1456,-0.84,-146.6,72.4,-4.9,123,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2218,3077
$GC,1488,-0.84,-146.6,73.8,-4.5,126,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2219,3078
$GC,1519,-0.84,-146.6,75.3,-4.5,129,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2218,3079
$GC,1552,-0.84,-146.6,76.8,-4.6,132,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2219,3079
$GC,1583,-0.84,-146.6,78.2,-4.5,135,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2219,3079
$GC,1616,-0.84,-146.6,79.6,-4.3,138,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2220,3078
$GC,1647,-0.84,-146.6,81.1,-4.6,141,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2219,3078
$GC,1679,-0.84,-146.6,82.4,-4.3,144,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2218,3078
$GC,1711,-0.84,-146.6,83.8,-4.4,147,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2218,3078
$GC,1742,-0.84,-146.6,85.2,-4.5,150,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2218,3078
$GC,1774,-0.84,-146.6,86.7,-4.5,153,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2220,3078
$GC,1806,-0.84,-146.6,88.1,-4.6,156,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2221,3079
$GC,1838,-0.84,-146.6,89.5,-4.4,159,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2219,3078
$GC,1870,-0.84,-146.6,91.0,-4.7,162,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2220,3078
$GC,1903,-0.84,-146.6,92.5,-4.7,165,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2220,3079
$GC,1934,-0.84,-146.6,94.0,-4.6,168,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2219,3078
$STATE,1962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1962,begin apogee
$GC,1970,-0.31,0.0,95.3,4.3,171,2097,0.85,0.00,122.40,0.005,6,0.004,0.000,2654,1910,2472
$STATE,2098,end apogee,CONTROL_FINISHED_OK
$STATE,2098,begin climb
$GC,2101,0.84,146.6,96.2,0.0,184,2228,1.25,0.00,120.78,0.005,6,0.004,0.000,2913,1910,1874
$GC,2259,0.84,146.6,88.3,6.3,200,2261,0.43,0.00,0.00,0.000,6,0.003,0.000,2836,1910,1875
$GC,2291,0.84,146.6,86.4,6.1,203,2293,0.32,0.00,0.00,0.000,6,0.004,0.000,2874,1909,1875
$GC,2323,0.84,146.6,84.4,6.2,206,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1910,1873
$GC,2355,0.84,146.6,82.5,6.1,209,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1911,1875
$GC,2386,0.84,146.6,80.6,6.0,212,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1910,1874
$GC,2418,0.84,146.6,78.7,6.0,215,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1910,1875
$GC,2450,0.84,146.6,76.8,5.8,218,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1912,1875
$GC,2482,0.84,146.6,75.0,5.7,221,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1910,1874
$GC,2514,0.84,146.6,73.2,5.6,224,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1909,1874
$GC,2546,0.84,146.6,71.3,5.9,227,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1911,1874
$GC,2578,0.84,146.6,69.3,6.2,230,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1910,1874
$GC,2609,0.84,146.6,67.3,6.5,233,2614,0.00,2.40,0.00,0.000,4,0.000,0.004,2873,548,1875
$GC,2917,0.84,146.6,49.0,6.1,260,2922,0.00,2.90,0.00,0.000,6,0.000,0.004,2873,2197,1875
$GC,2955,0.84,146.6,46.7,6.3,263,2960,0.00,2.78,0.00,0.000,4,0.000,0.004,2871,544,1875
$GC,3263,0.84,146.6,29.5,5.3,290,3268,0.00,2.65,0.00,0.000,6,0.000,0.004,2871,2173,1875
$GC,3300,0.84,146.6,27.5,5.4,293,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2174,1874
$GC,3332,0.84,146.6,25.8,5.3,296,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2172,1875
$GC,3364,0.84,147.9,24.2,5.0,299,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2174,1875
$GC,3396,0.85,152.7,22.6,4.9,302,3406,0.00,0.00,6.85,0.005,6,0.000,0.000,2872,2174,1849
$GC,3438,0.86,161.1,20.6,4.8,306,3449,0.00,0.00,9.00,0.004,6,0.000,0.000,2872,2174,1815
$GC,3480,0.88,175.4,18.7,4.6,310,3499,0.00,0.00,13.70,0.005,6,0.000,0.000,2873,2174,1757
$GC,3532,0.89,186.5,16.3,4.7,315,3551,0.00,3.10,10.65,0.005,4,0.000,0.004,2873,545,1712
$GC,3709,1.06,320.5,11.9,0.9,331,3793,0.28,2.72,76.28,0.005,2,0.003,0.004,2947,2169,1338
$STATE,3793,end climb,NO_VERTICAL_VELOCITY
$STATE,3794,begin surface
$SM_CCo,3867,214.27,0.004,29,1,330,525.43
$SM_CCo,4230,31.85,0.004,4,0,186,560.51
$SM_GC,0.00,13.95,0.00,0.00,0.003,0.000,0.000,148,1910,186,-11.71,-4.49,560.76
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.049855
$HUMID,1624
$INTERNAL_PRESSURE,12.5493
$TCM_TEMP,15.00
$24V_AH,23.7,22.749
$10V_AH,9.7,39.796
$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,29.450,22.875,359.650,246.125,0.000,0.000,0.000,82.923,0.000,0.000,11.536,697.566,2119.333,890.533,407.558,740.187,33.345,1291.303,0.000,332.929,0.000,0.000,0.000
$DEVICE_MAMPS,3.835,3.835,4.602,3.835,0.000,103.000,0.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,26.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,266.808,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,9563,339
$CAP_FILE_SIZE,91773,16
$CFSIZE,260165632,252682240
$ERRORS,0,0,0,0,0,0,0,0,1,0,1,70,94,33,0
$GPS,030808,181416,4805.388,-12221.150,33,1.1,33,18.0