version: 66.05
glider: 80
mission: 11
dive: 252
start: 8 5 108 23 13 48
data:
$ID,80
$MISSION,11
$DIVE,252
$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,-30634.654
$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,2
$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
$GPS1,230617,4807.532,-12223.642,24,1.1,24,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-50.0
$GPS2,231252,4807.511,-12223.611,21,1.1,21,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.080,0.135
$KALMAN_X,20236.7,-22.4,-200.1,-20036.2,42.9
$KALMAN_Y,1662.5,65.6,72.9,-2179.7,-18.6
$MHEAD_RNG_PITCHd_Wd,311.2,1025,-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,128,-0.84,-146.6,0.0,0.0,0,195,0.00,0.00,-60.42,0.000,6,0.000,0.000,146,1999,3076
$GC,198,-0.84,-146.6,0.7,-1.1,7,219,12.05,2.28,0.00,0.000,4,0.004,0.004,2548,547,3076
$GC,523,-0.84,-146.6,29.1,-6.2,36,533,0.43,3.03,0.00,0.000,6,0.004,0.004,2474,2160,3077
$GC,566,-0.84,-146.6,31.7,-6.2,40,568,0.38,0.00,0.00,0.000,6,0.004,0.000,2551,2162,3076
$GC,596,-0.84,-146.6,33.5,-5.9,43,598,0.43,0.00,0.00,0.000,6,0.003,0.000,2481,2160,3076
$GC,628,-0.84,-146.6,35.4,-6.0,46,630,0.30,0.00,0.00,0.000,6,0.004,0.000,2558,2161,3077
$GC,660,-0.84,-146.6,37.3,-5.8,49,662,0.68,0.00,0.00,0.000,6,0.004,0.000,2450,2161,3076
$GC,691,-0.84,-146.6,39.1,-5.8,52,694,0.60,0.00,0.00,0.000,6,0.003,0.000,2556,2162,3076
$GC,723,-0.84,-146.6,41.0,-5.8,55,726,0.43,0.00,0.00,0.000,6,0.004,0.000,2481,2160,3076
$GC,755,-0.84,-146.6,42.8,-5.7,58,757,0.43,0.00,0.00,0.000,6,0.004,0.000,2557,2162,3076
$GC,787,-0.84,-146.6,44.7,-6.0,61,789,0.45,0.00,0.00,0.000,6,0.004,0.000,2481,2161,3076
$GC,819,-0.84,-146.6,46.6,-5.8,64,821,0.38,0.00,0.00,0.000,6,0.004,0.000,2558,2161,3076
$GC,851,-0.84,-146.6,48.4,-5.9,67,853,0.40,0.00,0.00,0.000,6,0.004,0.000,2487,2163,3074
$GC,883,-0.84,-146.6,50.3,-6.0,70,885,0.40,0.00,0.00,0.000,6,0.004,0.000,2562,2160,3077
$GC,914,-0.84,-146.6,52.3,-6.0,73,917,0.45,0.00,0.00,0.000,6,0.003,0.000,2447,2162,3076
$GC,947,-0.84,-146.6,54.1,-5.9,76,949,0.57,0.00,0.00,0.000,6,0.004,0.000,2560,2161,3076
$GC,979,-0.84,-146.6,56.0,-6.0,79,981,0.47,0.00,0.00,0.000,6,0.003,0.000,2446,2160,3076
$GC,1010,-0.84,-146.6,58.0,-6.0,82,1012,0.57,0.00,0.00,0.000,6,0.003,0.000,2561,2161,3080
$GC,1042,-0.84,-146.6,60.0,-6.3,85,1045,0.62,0.00,0.00,0.000,6,0.004,0.000,2450,2161,3075
$GC,1074,-0.84,-146.6,61.9,-6.1,88,1076,0.57,0.00,0.00,0.000,6,0.004,0.000,2561,2161,3076
$GC,1106,-0.84,-146.6,63.8,-5.9,91,1108,0.30,0.00,0.00,0.000,6,0.004,0.000,2483,2162,3076
$GC,1137,-0.84,-146.6,65.6,-5.9,94,1140,0.38,0.00,0.00,0.000,6,0.004,0.000,2557,2161,3077
$GC,1171,-0.84,-146.6,67.7,-6.4,97,1173,0.32,0.00,0.00,0.000,6,0.004,0.000,2485,2160,3076
$GC,1201,-0.84,-146.6,69.6,-6.0,100,1203,0.43,0.00,0.00,0.000,6,0.003,0.000,2564,2162,3078
$GC,1233,-0.84,-146.6,71.6,-6.1,103,1236,0.60,0.00,0.00,0.000,6,0.004,0.000,2488,2163,3076
$GC,1265,-0.84,-146.6,73.5,-6.1,106,1267,0.30,0.00,0.00,0.000,6,0.004,0.000,2564,2162,3076
$GC,1297,-0.84,-146.6,75.3,-5.9,109,1299,0.47,0.00,0.00,0.000,6,0.004,0.000,2449,2161,3076
$GC,1329,-0.84,-146.6,77.3,-6.1,112,1331,0.50,0.00,0.00,0.000,6,0.004,0.000,2561,2162,3076
$GC,1361,-0.84,-146.6,79.3,-6.1,115,1363,0.47,0.00,0.00,0.000,6,0.004,0.000,2448,2161,3076
$GC,1392,-0.84,-146.6,81.3,-6.6,118,1398,0.68,2.65,0.00,0.000,4,0.004,0.004,2560,521,3076
$STATE,1614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1614,begin apogee
$GC,1624,-0.31,0.0,95.3,5.8,137,1751,0.68,0.00,122.20,0.005,6,0.004,0.000,2677,2258,2472
$STATE,1752,end apogee,CONTROL_FINISHED_OK
$STATE,1752,begin climb
$GC,1755,0.84,146.6,97.5,0.0,150,1881,1.25,0.00,120.55,0.005,6,0.004,0.000,2933,2259,1877
$GC,1908,0.84,146.6,88.9,7.6,165,1914,0.57,2.15,0.00,0.000,4,0.004,0.004,2823,3598,1875
$GC,2217,0.84,146.6,67.0,7.5,192,2223,0.30,2.70,0.00,0.000,6,0.004,0.004,2897,1967,1876
$GC,2255,0.84,146.6,64.4,7.1,195,2261,0.32,2.85,0.00,0.000,4,0.004,0.004,2856,3664,1876
$GC,2565,0.84,146.6,42.5,6.8,222,2570,0.00,3.22,0.00,0.000,6,0.000,0.004,2856,1935,1876
$GC,2603,0.84,146.6,39.8,7.4,225,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1935,1876
$GC,2634,0.84,146.6,37.7,6.6,228,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1934,1876
$GC,2666,0.84,146.6,35.6,6.6,231,2671,0.00,2.30,0.00,0.000,4,0.000,0.004,2856,523,1876
$GC,2744,0.84,146.6,30.4,6.7,237,2750,0.00,3.03,0.00,0.000,6,0.000,0.004,2855,2245,1876
$GC,2782,0.84,146.6,28.1,6.3,241,2786,0.00,2.40,0.00,0.000,4,0.000,0.004,2856,3674,1876
$GC,3091,0.84,146.6,9.0,5.7,268,3096,0.00,3.03,0.00,0.000,6,0.000,0.004,2856,1914,1875
$GC,3128,0.84,146.6,6.7,6.0,271,3133,0.00,2.97,0.00,0.000,4,0.000,0.004,2856,3577,1875
$STATE,3203,end climb,SURFACE_DEPTH_REACHED
$STATE,3203,begin surface coast
$FINISH,0.7,0.997210
$STATE,3238,end surface coast,CONTROL_FINISHED_OK
$STATE,3238,begin surface
$SM_CCo,3336,132.32,0.004,18,0,1249,300.00
$SM_GC,0.00,0.00,0.00,132.32,0.000,0.000,0.004,146,1913,1249,-11.71,-4.44,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.049088
$HUMID,1498
$INTERNAL_PRESSURE,12.4126
$TCM_TEMP,15.00
$24V_AH,23.8,28.602
$10V_AH,9.7,41.121
$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,41.975,38.125,242.750,132.325,0.000,0.000,0.000,77.889,0.000,0.000,22.153,582.716,1758.274,607.195,412.069,658.982,33.347,966.696,0.000,331.990,0.000,0.000,0.000
$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,218.651,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6464,280
$CAP_FILE_SIZE,72345,8
$CFSIZE,260165632,251305984
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,116,162,18,0
$GPS,060808,001559,4807.873,-12223.907,33,1.1,33,18.0