version: 66.05
glider: 80
mission: 11
dive: 215
start: 8 4 108 5 54 15
data:
$ID,80
$MISSION,11
$DIVE,215
$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,-29663.904
$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,4
$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
$GPS1,054621,4807.416,-12223.350,24,1.1,24,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,055320,4807.398,-12223.331,32,1.1,32,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.091,0.128
$KALMAN_X,19225.1,-26.1,102.1,-18977.4,-96.0
$KALMAN_Y,283.1,212.4,75.9,-1159.2,112.3
$MHEAD_RNG_PITCHd_Wd,306.4,1389,-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,-60.40,0.000,6,0.000,0.000,147,2223,3076
$GC,196,-0.84,-146.6,0.6,-1.2,6,217,11.62,2.67,0.00,0.000,4,0.004,0.004,2558,566,3075
$GC,521,-0.84,-146.6,30.6,-6.7,35,527,0.30,3.05,0.00,0.000,6,0.004,0.004,2484,2227,3074
$GC,559,-0.84,-146.6,33.2,-6.8,38,565,0.28,3.20,0.00,0.000,4,0.004,0.004,2560,469,3075
$GC,834,-0.84,-146.6,50.8,-6.2,62,840,0.30,2.78,0.00,0.000,6,0.004,0.004,2486,2204,3076
$GC,872,-0.84,-146.6,53.0,-6.1,65,874,0.45,0.00,0.00,0.000,6,0.003,0.000,2563,2205,3076
$GC,903,-0.84,-146.6,55.0,-6.0,68,906,0.50,0.00,0.00,0.000,6,0.004,0.000,2448,2204,3074
$GC,935,-0.84,-146.6,56.9,-6.1,71,938,0.47,0.00,0.00,0.000,6,0.004,0.000,2562,2204,3077
$GC,967,-0.84,-146.6,58.8,-6.2,74,969,0.47,0.00,0.00,0.000,6,0.003,0.000,2449,2204,3076
$GC,999,-0.84,-146.6,60.8,-6.1,77,1001,0.47,0.00,0.00,0.000,6,0.003,0.000,2561,2204,3075
$GC,1031,-0.84,-146.6,62.7,-5.9,80,1033,0.45,0.00,0.00,0.000,6,0.003,0.000,2447,2204,3075
$GC,1063,-0.84,-146.6,64.7,-6.3,83,1065,0.57,0.00,0.00,0.000,6,0.004,0.000,2560,2204,3074
$GC,1095,-0.84,-146.6,66.6,-5.9,86,1097,0.30,0.00,0.00,0.000,6,0.004,0.000,2485,2203,3074
$GC,1126,-0.84,-146.6,68.5,-6.1,89,1129,0.43,0.00,0.00,0.000,6,0.003,0.000,2559,2203,3075
$GC,1158,-0.84,-146.6,70.5,-6.2,92,1164,0.38,2.65,0.00,0.000,4,0.004,0.004,2486,538,3076
$GC,1468,-0.84,-146.6,88.2,-5.7,119,1474,0.30,2.95,0.00,0.000,6,0.003,0.004,2561,2227,3075
$GC,1505,-0.84,-146.6,90.4,-5.7,122,1511,0.40,2.97,0.00,0.000,4,0.005,0.004,2484,479,3075
$STATE,1581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1581,begin apogee
$GC,1591,-0.31,0.0,95.1,5.9,128,1718,1.02,0.00,121.80,0.005,6,0.004,0.000,2673,2196,2474
$STATE,1719,end apogee,CONTROL_FINISHED_OK
$STATE,1719,begin climb
$GC,1722,0.84,146.6,97.1,0.0,141,1850,1.00,2.53,121.10,0.005,4,0.005,0.004,2898,3659,1875
$GC,2156,0.84,146.6,68.0,7.5,181,2162,0.30,3.10,0.00,0.000,6,0.004,0.004,2821,1920,1874
$GC,2194,0.84,146.6,64.8,7.9,184,2196,0.40,0.00,0.00,0.000,6,0.003,0.000,2898,1919,1874
$GC,2225,0.84,146.6,62.4,7.6,187,2228,0.30,0.00,0.00,0.000,6,0.004,0.000,2827,1921,1874
$GC,2258,0.84,146.6,60.0,7.7,190,2260,0.30,0.00,0.00,0.000,6,0.004,0.000,2900,1919,1874
$GC,2289,0.84,146.6,57.6,7.5,193,2291,0.28,0.00,0.00,0.000,6,0.003,0.000,2822,1920,1874
$GC,2321,0.84,146.6,55.1,7.5,196,2323,0.40,0.00,0.00,0.000,6,0.003,0.000,2901,1922,1874
$GC,2353,0.84,146.6,52.9,7.1,199,2355,0.43,0.00,0.00,0.000,6,0.004,0.000,2827,1921,1875
$GC,2385,0.84,146.6,50.6,7.2,202,2387,0.43,0.00,0.00,0.000,6,0.003,0.000,2896,1920,1875
$GC,2417,0.84,146.6,48.4,7.1,205,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1921,1874
$GC,2448,0.84,146.6,46.2,6.9,208,2451,0.40,0.00,0.00,0.000,6,0.003,0.000,2824,1921,1875
$GC,2481,0.84,146.6,44.1,6.6,211,2483,0.40,0.00,0.00,0.000,6,0.004,0.000,2900,1919,1875
$GC,2512,0.84,146.6,42.0,6.6,214,2514,0.35,0.00,0.00,0.000,6,0.003,0.000,2826,1920,1875
$GC,2544,0.84,146.6,39.8,6.8,217,2550,0.40,2.65,0.00,0.000,4,0.004,0.004,2901,3586,1873
$GC,2854,0.84,146.6,18.5,6.9,244,2860,0.28,2.90,0.00,0.000,6,0.003,0.004,2827,1933,1875
$GC,2891,0.84,146.6,15.9,7.0,247,2894,0.40,0.00,0.00,0.000,6,0.004,0.000,2896,1933,1874
$GC,2923,0.84,146.6,13.6,7.2,250,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1932,1874
$GC,2955,0.84,146.6,11.4,7.1,253,2957,0.35,0.00,0.00,0.000,6,0.003,0.000,2823,1930,1875
$GC,2987,0.84,146.6,9.3,6.7,256,2989,0.50,0.00,0.00,0.000,6,0.004,0.000,2932,1932,1874
$GC,3019,0.84,146.6,7.2,6.5,259,3021,0.68,0.00,0.00,0.000,6,0.003,0.000,2821,1933,1874
$GC,3051,0.84,146.6,5.4,6.0,262,3053,0.30,0.00,0.00,0.000,6,0.003,0.000,2861,1933,1874
$GC,3083,0.86,164.0,4.0,4.5,265,3104,0.00,2.72,12.93,0.005,4,0.000,0.004,2860,3579,1804
$STATE,3135,end climb,SURFACE_DEPTH_REACHED
$STATE,3135,begin surface coast
$FINISH,0.6,0.997320
$STATE,3206,end surface coast,CONTROL_FINISHED_OK
$STATE,3206,begin surface
$SM_CCo,3303,117.12,0.004,15,0,1249,300.00
$SM_GC,0.00,0.00,0.00,117.12,0.000,0.000,0.004,146,1904,1249,-11.71,-4.69,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.049088
$HUMID,1594
$INTERNAL_PRESSURE,12.5298
$TCM_TEMP,15.00
$24V_AH,23.8,24.143
$10V_AH,9.7,40.098
$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,40.850,39.975,255.825,117.125,0.000,0.000,0.000,89.864,0.000,0.000,32.545,573.229,1732.438,579.840,424.642,667.258,33.352,938.241,0.000,333.796,0.000,0.000,0.000
$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,216.765,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6452,276
$CAP_FILE_SIZE,71786,8
$CFSIZE,260165632,252370944
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,84,156,15,0
$GPS,040808,065503,4807.634,-12223.729,13,1.1,13,18.0