version: 66.05
glider: 80
mission: 11
dive: 266
start: 8 6 108 14 48 2
data:
$ID,80
$MISSION,11
$DIVE,266
$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,-30930.979
$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
$GPS1,144037,4804.984,-12221.076,26,1.1,26,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,144705,4805.011,-12221.079,16,1.1,16,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.041,-0.029
$KALMAN_X,19462.3,17.2,-127.8,-16242.9,-55.8
$KALMAN_Y,1324.3,-167.9,101.8,-6268.2,88.7
$MHEAD_RNG_PITCHd_Wd,107.5,100,-42.5,-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,123,end surface,CONTROL_FINISHED_OK
$STATE,123,begin dive
$GC,127,-2.67,-12.9,0.0,0.0,0,171,0.00,0.00,-42.55,0.000,6,0.000,0.000,301,2203,2531
$GC,175,-2.69,-28.8,0.2,-0.8,4,196,9.25,2.33,-2.20,0.000,4,0.004,0.004,2164,3644,2599
$GC,500,-2.69,-29.3,16.1,-4.9,33,510,0.47,3.03,0.00,0.000,6,0.004,0.004,2052,1900,2600
$GC,542,-2.69,-29.3,18.2,-5.3,37,551,0.52,3.03,0.00,0.000,4,0.004,0.004,2166,3657,2600
$GC,855,-2.69,-29.3,32.5,-5.8,65,864,0.47,3.10,0.00,0.000,6,0.003,0.004,2053,1885,2600
$GC,896,-2.69,-29.3,35.0,-6.1,69,903,0.52,3.03,0.00,0.000,4,0.004,0.003,2167,3649,2600
$GC,1207,-2.69,-29.3,51.7,-5.3,96,1213,0.47,2.95,0.00,0.000,6,0.003,0.004,2055,1894,2600
$GC,1244,-2.69,-29.3,53.6,-5.2,99,1250,0.35,2.90,0.00,0.000,4,0.004,0.004,2130,3655,2600
$GC,1554,-2.70,-32.9,69.0,-4.1,126,1560,0.30,2.85,0.00,0.000,6,0.003,0.004,2055,1908,2600
$GC,1592,-2.70,-35.3,70.7,-4.4,129,1602,0.32,2.83,-0.75,0.000,4,0.004,0.004,2096,3674,2623
$GC,1906,-2.70,-35.3,86.2,-5.8,157,1911,0.00,3.03,0.00,0.000,6,0.000,0.004,2095,1929,2624
$GC,1943,-2.70,-35.3,88.3,-5.8,160,1948,0.00,2.97,0.00,0.000,4,0.000,0.004,2095,3673,2624
$STATE,2058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2058,begin apogee
$GC,2068,-0.31,0.0,95.3,5.6,170,2106,2.92,0.00,31.95,0.005,6,0.004,0.000,2657,1899,2473
$STATE,2107,end apogee,CONTROL_FINISHED_OK
$STATE,2107,begin climb
$GC,2110,2.70,35.3,95.3,0.0,174,2147,3.33,0.00,30.40,0.005,6,0.004,0.000,3328,1899,2329
$GC,2178,2.70,35.3,87.5,13.6,181,2183,0.28,2.28,0.00,0.000,4,0.004,0.004,3257,557,2329
$GC,2487,2.70,35.3,44.1,12.6,208,2493,0.30,2.78,0.00,0.000,6,0.003,0.004,3333,2200,2330
$GC,2525,2.70,35.3,39.4,12.7,211,2531,0.47,2.72,0.00,0.000,4,0.004,0.004,3217,563,2330
$GC,2834,2.70,35.3,4.0,11.4,238,2840,0.45,2.65,0.00,0.000,6,0.004,0.004,3331,2228,2329
$STATE,2858,end climb,SURFACE_DEPTH_REACHED
$STATE,2858,begin surface coast
$FINISH,1.0,0.997264
$STATE,2881,end surface coast,CONTROL_FINISHED_OK
$STATE,2881,begin surface
$SM_CCo,2954,214.27,0.004,29,1,1315,284.06
$SM_CCo,3318,214.27,0.004,29,1,304,532.30
$SM_CCo,3683,25.88,0.004,3,0,186,560.51
$SM_GC,0.00,14.05,0.00,0.00,0.003,0.000,0.000,336,1985,190,-10.70,-2.46,560.51
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.048321
$HUMID,1707
$INTERNAL_PRESSURE,12.4712
$TCM_TEMP,15.00
$24V_AH,23.8,30.280
$10V_AH,9.7,41.508
$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,34.500,45.775,62.350,454.425,0.000,0.000,0.000,77.224,0.000,0.000,16.837,517.954,1795.454,954.053,416.687,609.599,33.337,1291.319,0.000,343.160,0.000,0.000,0.000
$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,193.207,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6474,242
$CAP_FILE_SIZE,59004,24
$CFSIZE,260165632,250925056
$ERRORS,0,0,0,0,0,0,0,0,1,0,2,78,180,61,0
$GPS,060808,155445,4804.956,-12221.027,26,1.1,26,18.0