version: 66.05
glider: 80
mission: 10
dive: 297
start: 7 16 108 9 36 49
data:
$ID,80
$MISSION,10
$DIVE,297
$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,-18441.654
$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,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
$GPS1,092906,4806.603,-12222.556,27,1.1,27,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.0
$GPS2,093553,4806.569,-12222.544,29,1.1,29,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.128,-0.090
$KALMAN_X,15119.5,-122.3,47.2,-13432.1,-51.8
$KALMAN_Y,-6194.4,276.4,-133.0,3745.9,-317.7
$MHEAD_RNG_PITCHd_Wd,107.2,3477,-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,90,end surface,CONTROL_FINISHED_OK
$STATE,90,begin dive
$GC,93,-0.84,-146.6,0.0,0.0,0,156,0.00,0.00,-60.78,0.000,6,0.000,0.000,147,1946,3080
$GC,159,-0.84,-146.6,0.6,-1.6,6,180,12.12,2.58,0.00,0.000,4,0.004,0.004,2543,498,3079
$GC,443,-0.84,-146.6,24.4,-6.9,31,451,0.30,2.85,0.00,0.000,6,0.003,0.004,2467,2234,3080
$GC,482,-0.84,-146.6,27.0,-7.1,35,487,0.32,2.17,0.00,0.000,4,0.004,0.004,2506,3577,3080
$GC,791,-0.84,-146.6,47.3,-5.9,62,796,0.00,2.85,0.00,0.000,6,0.000,0.004,2506,1943,3079
$GC,828,-0.84,-146.6,49.6,-6.3,65,833,0.00,2.78,0.00,0.000,4,0.000,0.004,2505,3595,3081
$GC,1136,-0.84,-146.6,68.1,-5.8,92,1141,0.00,2.65,0.00,0.000,6,0.000,0.004,2506,1960,3080
$GC,1174,-0.84,-146.6,70.3,-5.9,95,1179,0.00,3.03,0.00,0.000,4,0.000,0.004,2504,3591,3080
$GC,1482,-0.84,-146.6,89.0,-6.1,122,1487,0.00,2.65,0.00,0.000,6,0.000,0.004,2508,1929,3080
$GC,1520,-0.84,-146.6,91.1,-5.7,125,1525,0.00,2.97,0.00,0.000,4,0.000,0.004,2506,3664,3079
$STATE,1590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1590,begin apogee
$GC,1600,-0.31,0.0,95.2,5.5,131,1727,0.75,0.00,122.95,0.005,6,0.005,0.000,2657,1888,2475
$STATE,1728,end apogee,CONTROL_FINISHED_OK
$STATE,1728,begin climb
$GC,1731,0.84,146.6,96.6,0.0,144,1865,1.15,2.28,120.43,0.005,4,0.004,0.004,2876,547,1875
$GC,2169,0.84,146.6,66.0,7.4,184,2174,0.00,3.03,0.00,0.000,6,0.000,0.004,2876,2174,1875
$GC,2206,0.84,146.6,63.1,7.7,187,2211,0.00,2.78,0.00,0.000,4,0.000,0.004,2877,531,1876
$GC,2515,0.84,146.6,40.2,7.7,214,2520,0.00,2.78,0.00,0.000,6,0.000,0.004,2876,2179,1875
$GC,2552,0.84,146.6,37.5,7.1,217,2557,0.00,2.78,0.00,0.000,4,0.000,0.004,2876,547,1876
$GC,2860,0.84,146.6,16.2,6.4,244,2865,0.00,2.78,0.00,0.000,6,0.000,0.004,2875,2215,1875
$GC,2898,0.84,146.6,13.6,6.8,247,2902,0.00,2.78,0.00,0.000,4,0.000,0.004,2876,472,1874
$STATE,3073,end climb,SURFACE_DEPTH_REACHED
$STATE,3073,begin surface coast
$FINISH,0.6,0.996987
$STATE,3108,end surface coast,CONTROL_FINISHED_OK
$STATE,3108,begin surface
$SM_CCo,3206,131.93,0.004,17,0,1248,300.00
$SM_GC,-0.00,0.00,0.00,131.93,0.000,0.000,0.004,144,2212,1248,-11.72,4.07,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.049855
$HUMID,1377
$INTERNAL_PRESSURE,12.52
$TCM_TEMP,15.00
$24V_AH,23.8,32.890
$10V_AH,9.7,40.296
$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,28.525,49.500,243.375,131.925,0.000,0.000,0.000,88.099,0.000,0.000,30.329,523.810,1763.616,572.669,466.675,532.172,33.360,945.771,0.000,377.798,0.000,0.000,0.000
$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,207.102,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6447,265
$CAP_FILE_SIZE,67206,8
$CFSIZE,260165632,249532416
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,75,204,17,0
$GPS,160708,103553,4806.241,-12222.189,20,1.1,20,18.0