version: 66.05
glider: 80
mission: 10
dive: 299
start: 7 16 108 11 50 57
data:
$ID,80
$MISSION,10
$DIVE,299
$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,-18486.754
$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
$GPS1,114310,4805.883,-12221.904,32,1.1,32,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-50.0
$GPS2,115002,4805.867,-12221.903,33,1.1,33,18.0
$SPEED_LIMITS,0.050,0.157
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.127,-0.093
$KALMAN_X,14903.9,-57.2,44.3,-12484.2,-63.5
$KALMAN_Y,-6560.6,-14.6,-65.1,3034.2,-247.8
$MHEAD_RNG_PITCHd_Wd,108.2,1957,-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,-146.6,0.0,0.0,0,160,0.00,0.00,-60.53,0.000,6,0.000,0.000,144,2194,3079
$GC,163,-0.84,-146.6,0.6,-1.1,7,184,12.02,2.62,0.00,0.000,4,0.004,0.004,2546,535,3080
$GC,386,-0.84,-146.6,22.0,-6.6,27,392,0.30,2.78,0.00,0.000,6,0.004,0.004,2475,2176,3080
$GC,424,-0.84,-146.6,24.6,-7.0,30,429,0.30,2.53,0.00,0.000,4,0.004,0.004,2552,3629,3079
$GC,734,-0.84,-146.6,45.2,-6.6,57,740,0.43,2.78,0.00,0.000,6,0.004,0.004,2476,1977,3080
$GC,771,-0.84,-146.6,47.7,-6.4,60,777,0.30,3.05,0.00,0.000,4,0.004,0.004,2517,3650,3080
$GC,1081,-0.84,-146.6,66.8,-6.3,87,1086,0.00,2.78,0.00,0.000,6,0.000,0.004,2515,1888,3080
$GC,1118,-0.84,-146.6,69.1,-6.3,90,1123,0.00,3.22,0.00,0.000,4,0.000,0.004,2514,3642,3080
$GC,1427,-0.84,-146.6,88.8,-5.9,117,1432,0.00,3.03,0.00,0.000,6,0.000,0.004,2515,1894,3079
$GC,1464,-0.84,-146.6,91.1,-6.3,120,1469,0.00,2.95,0.00,0.000,4,0.000,0.004,2513,3667,3079
$STATE,1527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1527,begin apogee
$GC,1537,-0.31,0.0,95.0,5.7,125,1664,0.62,0.00,122.72,0.005,6,0.005,0.000,2665,1905,2474
$STATE,1665,end apogee,CONTROL_FINISHED_OK
$STATE,1665,begin climb
$GC,1668,0.84,146.6,96.3,0.0,138,1803,1.25,2.45,120.53,0.005,4,0.004,0.004,2928,476,1875
$GC,2106,0.84,146.6,66.3,7.1,178,2113,0.47,2.95,0.00,0.000,6,0.004,0.004,2814,2218,1875
$GC,2144,0.84,146.6,63.5,7.3,181,2150,0.43,2.80,0.00,0.000,4,0.004,0.004,2926,468,1874
$GC,2453,0.84,146.6,41.5,6.9,208,2463,0.50,2.97,0.00,0.000,6,0.003,0.004,2816,2224,1875
$GC,2496,0.84,146.6,38.7,7.1,212,2502,0.43,3.03,0.00,0.000,4,0.005,0.004,2927,518,1874
$GC,2806,0.84,146.6,18.4,6.0,239,2812,0.28,2.78,0.00,0.000,6,0.003,0.004,2849,2167,1875
$GC,2843,0.84,146.6,15.8,6.9,242,2849,0.38,2.78,0.00,0.000,4,0.004,0.004,2925,504,1875
$STATE,3060,end climb,SURFACE_DEPTH_REACHED
$STATE,3060,begin surface coast
$FINISH,0.6,0.997026
$STATE,3096,end surface coast,CONTROL_FINISHED_OK
$STATE,3096,begin surface
$SM_CCo,3193,131.82,0.004,17,0,1249,300.25
$SM_GC,-0.00,0.00,0.00,131.82,0.000,0.000,0.004,145,2206,1249,-11.71,3.84,300.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.049855
$HUMID,1521
$INTERNAL_PRESSURE,12.5395
$TCM_TEMP,15.00
$24V_AH,23.8,33.132
$10V_AH,9.7,40.350
$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,31.650,50.975,243.250,131.825,0.000,0.000,0.000,88.242,0.000,0.000,34.473,527.413,1741.765,581.818,469.232,530.121,33.361,952.790,0.000,374.407,0.000,0.000,0.000
$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,206.297,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,216.220,0.000
$DATA_FILE_SIZE,6425,264
$CAP_FILE_SIZE,68719,8
$CFSIZE,260165632,249475072
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,79,206,17,0
$GPS,160708,124942,4805.533,-12221.688,12,1.1,12,18.0