version: 66.05
glider: 80
mission: 10
dive: 376
start: 7 20 108 6 16 20
data:
$ID,80
$MISSION,10
$DIVE,376
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,50
$T_MISSION,65
$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,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-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,350
$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,-23728.326
$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
$GPS1,060750,4805.426,-12221.160,26,1.1,26,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,061526,4805.405,-12221.126,31,1.1,31,18.0
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.107,0.131
$KALMAN_X,12910.1,1.2,-3.8,-9541.9,-2.9
$KALMAN_Y,-3914.6,1.6,-13.2,-539.0,46.3
$MHEAD_RNG_PITCHd_Wd,302.7,5977,-13.2,-6.000
$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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,94,-1.00,-146.6,0.0,0.0,0,166,0.00,0.00,-67.38,0.000,6,0.000,0.000,170,1919,3079
$GC,170,-1.00,-146.6,0.7,-0.7,7,186,12.20,0.00,0.00,0.000,6,0.004,0.000,2521,1919,3079
$GC,218,-1.00,-146.6,7.0,-13.2,12,220,0.45,0.00,0.00,0.000,6,0.003,0.000,2446,1920,3079
$GC,250,-1.00,-146.6,9.5,-7.6,15,255,0.30,2.42,0.00,0.000,4,0.004,0.004,2522,502,3078
$GC,559,-1.00,-146.6,31.1,-6.3,42,565,0.45,2.78,0.00,0.000,6,0.003,0.004,2448,2162,3078
$GC,597,-1.00,-146.6,33.6,-6.7,45,599,0.40,0.00,0.00,0.000,6,0.004,0.000,2521,2162,3080
$GC,628,-1.00,-146.6,35.6,-6.4,48,631,0.30,0.00,0.00,0.000,6,0.004,0.000,2442,2162,3079
$GC,660,-1.00,-146.6,37.6,-6.4,51,663,0.40,0.00,0.00,0.000,6,0.004,0.000,2518,2162,3078
$GC,692,-1.00,-146.6,39.7,-6.5,54,694,0.32,0.00,0.00,0.000,6,0.004,0.000,2439,2163,3078
$GC,724,-1.00,-146.6,41.7,-6.2,57,730,0.25,2.55,0.00,0.000,4,0.004,0.004,2515,3599,3079
$GC,870,-1.00,-146.6,51.2,-6.4,69,877,0.30,2.90,0.00,0.000,6,0.004,0.004,2438,1941,3079
$GC,907,-1.00,-146.6,53.8,-6.9,73,910,0.43,0.00,0.00,0.000,6,0.003,0.000,2512,1939,3081
$GC,939,-1.00,-146.6,55.8,-6.4,76,942,0.43,0.00,0.00,0.000,6,0.004,0.000,2437,1938,3079
$GC,971,-1.00,-146.6,57.9,-6.6,79,977,0.28,2.65,0.00,0.000,4,0.004,0.004,2511,3597,3079
$GC,1247,-1.00,-146.6,76.2,-6.7,103,1253,0.28,2.65,0.00,0.000,6,0.004,0.004,2435,1946,3079
$GC,1284,-1.00,-146.6,78.6,-6.4,106,1287,0.43,0.00,0.00,0.000,6,0.003,0.000,2511,1948,3079
$GC,1316,-1.00,-146.6,80.5,-6.3,109,1318,0.30,0.00,0.00,0.000,6,0.003,0.000,2437,1947,3079
$GC,1348,-1.00,-146.6,82.7,-6.3,112,1351,0.35,0.00,0.00,0.000,6,0.003,0.000,2513,1947,3079
$GC,1380,-1.00,-146.6,84.7,-6.5,115,1382,0.40,0.00,0.00,0.000,6,0.003,0.000,2438,1947,3080
$GC,1412,-1.00,-146.6,86.7,-6.2,118,1414,0.38,0.00,0.00,0.000,6,0.004,0.000,2515,1947,3079
$GC,1444,-1.00,-146.6,88.8,-6.5,121,1446,0.32,0.00,0.00,0.000,6,0.004,0.000,2476,1947,3080
$STATE,1462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1462,begin apogee
$GC,1470,-0.31,0.0,90.1,6.3,123,1597,1.02,0.00,122.55,0.005,6,0.004,0.000,2661,2250,2472
$STATE,1598,end apogee,CONTROL_FINISHED_OK
$STATE,1598,begin climb
$GC,1601,1.00,146.6,91.8,0.0,136,1727,1.33,0.00,120.78,0.005,6,0.004,0.000,2963,2250,1874
$GC,1754,1.00,146.6,83.2,7.3,151,1760,0.52,2.47,0.00,0.000,4,0.004,0.004,2854,3581,1874
$GC,2066,1.00,146.6,60.3,7.7,178,2072,0.47,2.78,0.00,0.000,6,0.003,0.004,2963,1920,1874
$GC,2103,1.00,146.6,57.2,8.0,181,2109,0.30,2.70,0.00,0.000,4,0.004,0.004,2888,3590,1875
$GC,2125,1.00,146.6,55.3,8.2,182,2131,0.00,2.90,0.00,0.000,6,0.000,0.004,2889,1933,1874
$GC,2163,1.00,146.6,52.5,7.5,186,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1934,1875
$GC,2195,1.00,146.6,50.0,7.7,189,2197,0.43,0.00,0.00,0.000,6,0.004,0.000,2961,1934,1874
$GC,2227,1.00,146.6,47.6,7.6,192,2229,0.57,0.00,0.00,0.000,6,0.004,0.000,2852,1933,1874
$GC,2259,1.00,146.6,45.4,7.1,195,2261,0.55,0.00,0.00,0.000,6,0.003,0.000,2969,1934,1874
$GC,2290,1.00,146.6,43.1,7.2,198,2293,0.47,0.00,0.00,0.000,6,0.003,0.000,2853,1933,1875
$GC,2323,1.00,146.6,40.8,7.3,201,2328,0.57,2.67,0.00,0.000,4,0.004,0.004,2962,3600,1874
$GC,2490,1.00,146.6,29.0,6.6,215,2497,0.47,2.85,0.00,0.000,6,0.004,0.004,2855,1971,1875
$GC,2528,1.00,146.6,26.4,7.2,219,2534,0.57,2.65,0.00,0.000,4,0.004,0.003,2967,3597,1875
$GC,2838,1.02,159.0,6.1,5.6,246,2855,0.47,2.78,9.68,0.005,6,0.004,0.004,2854,1946,1822
$GC,2886,1.02,159.0,3.1,6.3,250,2892,0.47,2.65,0.00,0.000,4,0.004,0.004,2965,3630,1823
$STATE,2905,end climb,SURFACE_DEPTH_REACHED
$STATE,2905,begin surface coast
$FINISH,0.6,0.997313
$STATE,2940,end surface coast,CONTROL_FINISHED_OK
$STATE,2940,begin surface
$SM_CCo,3039,165.88,0.004,22,0,1044,350.04
$SM_GC,0.00,0.00,0.00,165.88,0.000,0.000,0.004,148,1970,1044,-11.72,-2.74,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.049088
$HUMID,1600
$INTERNAL_PRESSURE,12.4907
$TCM_TEMP,15.00
$24V_AH,23.7,43.433
$10V_AH,9.7,42.556
$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,41.025,43.525,253.000,165.875,0.000,0.000,0.000,116.493,0.000,0.000,32.498,538.620,1562.666,667.513,404.656,623.096,33.367,1009.924,0.000,315.837,0.000,0.000,0.000
$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,197.457,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6463,254
$CAP_FILE_SIZE,82885,8
$CFSIZE,260165632,246759424
$ERRORS,0,1,0,0,0,0,0,0,1,0,0,104,173,22,0
$GPS,200708,071331,4805.706,-12221.400,12,1.1,12,18.0