version: 66.05
glider: 80
mission: 11
dive: 242
start: 8 5 108 11 55 41
data:
$ID,80
$MISSION,11
$DIVE,242
$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,-30395.592
$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,1
$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
$GPS1,114749,4805.312,-12221.212,20,1.1,20,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,115445,4805.286,-12221.192,32,1.1,32,18.0
$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,19104.2,70.7,-229.3,-15980.1,60.1
$KALMAN_Y,1825.5,-181.8,199.6,-6344.6,-73.4
$MHEAD_RNG_PITCHd_Wd,306.6,6108,-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,-146.6,0.0,0.0,0,195,0.00,0.00,-60.38,0.000,6,0.000,0.000,145,1954,3080
$GC,198,-0.84,-146.6,0.6,-1.2,7,219,12.00,2.30,0.00,0.000,4,0.004,0.003,2545,503,3080
$GC,348,-0.84,-146.6,19.3,-8.7,20,355,0.30,2.80,0.00,0.000,6,0.003,0.004,2469,2186,3081
$GC,386,-0.84,-146.6,22.2,-8.1,24,391,0.32,2.40,0.00,0.000,4,0.004,0.004,2507,3607,3080
$GC,695,-0.84,-146.6,43.9,-6.5,51,700,0.00,2.90,0.00,0.000,6,0.000,0.004,2507,1960,3081
$GC,732,-0.84,-146.6,46.2,-6.2,54,737,0.00,3.03,0.00,0.000,4,0.000,0.004,2506,3605,3079
$GC,895,-0.84,-146.6,56.2,-6.4,68,900,0.00,2.90,0.00,0.000,6,0.000,0.004,2508,1958,3080
$GC,933,-0.84,-146.6,58.4,-5.9,71,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1959,3080
$GC,965,-0.84,-146.6,60.3,-6.1,74,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1961,3080
$GC,996,-0.84,-146.6,62.5,-6.6,77,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1958,3080
$GC,1028,-0.84,-146.6,64.5,-6.3,80,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1959,3081
$GC,1060,-0.84,-146.6,66.4,-6.1,83,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1958,3080
$GC,1092,-0.84,-146.6,68.5,-6.3,86,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1958,3080
$GC,1124,-0.84,-146.6,70.5,-6.5,89,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1957,3080
$GC,1156,-0.84,-146.6,72.5,-6.4,92,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1958,3079
$GC,1188,-0.84,-146.6,74.7,-6.6,95,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1957,3081
$GC,1219,-0.84,-146.6,76.7,-6.6,98,1224,0.00,2.80,0.00,0.000,4,0.000,0.004,2506,3607,3080
$STATE,1507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1507,begin apogee
$GC,1516,-0.31,0.0,95.0,6.6,123,1643,0.60,0.00,123.25,0.005,6,0.004,0.000,2655,1952,2473
$STATE,1644,end apogee,CONTROL_FINISHED_OK
$STATE,1644,begin climb
$GC,1647,0.84,146.6,97.2,0.0,136,1780,1.12,2.33,120.45,0.005,4,0.004,0.003,2923,492,1875
$GC,1917,0.84,146.6,79.3,7.6,161,1924,0.30,3.03,0.00,0.000,6,0.004,0.004,2844,2270,1875
$GC,1955,0.84,146.6,76.5,7.5,164,1957,0.43,0.00,0.00,0.000,6,0.003,0.000,2920,2269,1874
$GC,1987,0.84,146.6,74.1,7.9,167,1989,0.32,0.00,0.00,0.000,6,0.003,0.000,2881,2268,1874
$GC,2019,0.84,146.6,71.7,7.3,170,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2268,1874
$GC,2050,0.84,146.6,69.2,7.6,173,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2268,1874
$GC,2082,0.84,146.6,66.8,7.8,176,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2269,1873
$GC,2114,0.84,146.6,64.4,7.4,179,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2268,1874
$GC,2146,0.84,146.6,61.8,8.1,182,2151,0.00,2.95,0.00,0.000,4,0.000,0.004,2881,510,1874
$GC,2455,0.84,146.6,39.2,7.4,209,2460,0.00,3.20,0.00,0.000,6,0.000,0.004,2882,2252,1874
$GC,2492,0.84,146.6,36.3,7.6,212,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2253,1874
$GC,2524,0.84,146.6,33.9,7.5,215,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2254,1874
$GC,2556,0.84,146.6,31.6,7.6,218,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2253,1875
$GC,2588,0.84,146.6,29.4,7.0,221,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2251,1874
$GC,2619,0.84,146.6,27.0,7.5,224,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2253,1874
$GC,2651,0.84,146.6,24.6,7.6,227,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2252,1874
$GC,2683,0.84,146.6,22.3,7.3,230,2684,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2252,1874
$GC,2715,0.84,146.6,20.0,7.2,233,2720,0.00,2.90,0.00,0.000,4,0.000,0.004,2880,510,1875
$GC,2923,0.84,146.6,5.4,6.0,251,2927,0.00,2.67,0.00,0.000,6,0.000,0.004,2880,2168,1873
$GC,2960,0.84,146.6,3.3,5.6,254,2965,0.00,2.65,0.00,0.000,4,0.000,0.004,2879,3596,1875
$STATE,2985,end climb,SURFACE_DEPTH_REACHED
$STATE,2985,begin surface coast
$FINISH,-0.0,0.997207
$STATE,3031,end surface coast,CONTROL_FINISHED_OK
$STATE,3031,begin surface
$SM_CCo,3130,132.32,0.004,18,0,1250,300.49
$SM_GC,0.00,0.00,0.00,132.32,0.000,0.000,0.004,147,1944,1250,-11.72,-3.56,300.49
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.048321
$HUMID,1699
$INTERNAL_PRESSURE,12.4809
$TCM_TEMP,15.00
$24V_AH,23.8,27.383
$10V_AH,9.7,40.842
$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,29.300,44.025,243.700,132.325,0.000,0.000,0.000,82.719,0.000,0.000,32.626,533.698,1650.771,587.082,411.864,656.096,33.349,935.055,0.000,322.753,0.000,0.000,0.000
$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,203.745,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6431,260
$CAP_FILE_SIZE,64598,8
$CFSIZE,260165632,251604992
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,73,183,18,0
$GPS,050808,125417,4805.576,-12221.303,18,1.1,18,18.0