version: 66.11
glider: 200
mission: 1
dive: 13
start: 7 18 113 6 11 51
data:
$ID,200
$MISSION,1
$DIVE,13
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,3
$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,70
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51781
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-397.8493
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,197
$PITCH_MAX,3889
$C_PITCH,3160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.700001
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,282
$ROLL_MAX,3852
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,2108
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2663
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-65.878853
$PRESSURE_SLOPE,0.0001160319
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.77999997
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004400372
$SEABIRD_T_H,0.00063770427
$SEABIRD_T_I,2.5625237e-05
$SEABIRD_T_J,3.1304903e-06
$SEABIRD_C_G,-9.9220228
$SEABIRD_C_H,1.1569983
$SEABIRD_C_I,-0.00090645044
$SEABIRD_C_J,0.00015506662
$GPS1,180713,060444,4742.758,-12224.486,3,1.2,3,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-70.0
$GPS2,180713,061053,4742.737,-12224.511,5,1.2,5,16.3
$SPEED_LIMITS,0.148,0.206
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.183,-0.071
$KALMAN_X,-325.2,-27.5,69.8,403.0,394.2
$KALMAN_Y,-1122.3,239.5,80.1,24.3,222.8
$MHEAD_RNG_PITCHd_Wd,232.6,366,-20.1,-8.571
$D_GRID,175
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.13,-87.7,0.0,0.0,0,78,0.00,0.00,-61.55,0.000,2,0.000,0.000,186,2102,2959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-1.14,-97.8,3.4,-7.3,11,100,9.80,2.08,-2.20,0.000,4,0.226,0.058,2789,722,3061,0,0,0,0,0,0,26.53,26.73,27.01
$GC,115,-1.14,-97.8,13.3,-21.3,17,122,0.00,2.10,0.00,0.000,6,0.000,0.041,2780,2127,3062,0,0,0,0,0,0,28.83,26.75,28.83
$GC,183,-1.14,-97.8,23.8,-14.4,30,190,0.00,2.15,0.00,0.000,4,0.000,0.053,2770,3542,3061,0,0,0,0,0,0,28.83,26.76,28.83
$GC,336,-1.14,-97.8,46.4,-13.4,60,343,0.00,2.08,0.00,0.000,6,0.000,0.036,2770,2133,3062,0,0,0,0,0,0,28.83,26.86,28.83
$GC,464,-1.14,-97.8,62.9,-14.4,85,471,0.00,2.10,0.00,0.000,4,0.000,0.046,2770,733,3062,0,0,0,0,0,0,28.83,26.86,28.83
$GC,527,-1.14,-97.8,72.0,-14.6,97,534,0.12,2.10,0.00,0.000,6,0.184,0.040,2790,2131,3062,0,0,0,0,0,0,26.74,26.89,28.83
$GC,656,-1.14,-97.8,88.0,-12.2,122,662,0.00,2.12,0.00,0.000,4,0.000,0.052,2780,3542,3062,0,0,0,0,0,0,28.83,26.89,28.83
$GC,724,-1.14,-97.8,97.2,-13.3,135,730,0.00,2.05,0.00,0.000,6,0.000,0.037,2782,2130,3062,0,0,0,0,0,0,28.83,26.95,28.83
$GC,851,-1.14,-97.8,114.7,-13.1,160,858,0.00,2.12,0.00,0.000,4,0.000,0.052,2771,3544,3062,0,0,0,0,0,0,28.83,26.93,28.83
$GC,879,-1.14,-97.8,118.6,-13.8,165,886,0.00,2.10,0.00,0.000,6,0.000,0.037,2771,2122,3062,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1007,-1.14,-97.8,136.2,-13.4,190,1014,0.00,2.15,0.00,0.000,4,0.000,0.052,2761,3543,3062,0,0,0,0,0,0,28.83,26.95,28.83
$GC,1050,-1.14,-97.8,142.1,-14.2,198,1058,0.12,2.10,0.00,0.000,6,0.177,0.037,2791,2116,3062,0,0,0,0,0,0,26.84,26.99,28.83
$GC,1180,-1.14,-97.8,159.2,-14.0,223,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2116,3062,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1291,begin apogee
$GC,1294,-0.25,0.0,175.1,-13.2,245,1407,0.88,0.00,104.70,0.508,6,0.137,0.000,3075,2115,2658,0,0,0,0,0,0,26.87,28.83,25.58
$STATE,1407,end apogee,CONTROL_FINISHED_OK
$STATE,1408,begin climb
$GC,1409,1.14,97.8,179.3,0.0,265,1488,1.27,2.30,71.57,0.519,4,0.081,0.050,3523,3512,2255,0,0,0,0,0,0,25.98,25.63,25.18
$GC,1505,1.16,112.4,175.8,7.6,282,1523,0.00,2.20,11.80,0.555,6,0.000,0.040,3528,2106,2198,0,0,0,0,0,0,28.83,25.81,25.29
$GC,1646,1.16,112.4,160.3,10.8,309,1652,0.00,2.25,0.00,0.000,4,0.000,0.055,3529,3520,2190,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1694,1.16,112.4,155.0,10.4,318,1700,0.00,2.17,0.00,0.000,6,0.000,0.041,3531,2102,2190,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1822,1.16,112.4,142.9,9.8,343,1829,0.00,2.15,0.00,0.000,4,0.000,0.050,3540,704,2190,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1854,1.16,112.4,139.2,11.0,349,1861,0.00,2.17,0.00,0.000,6,0.000,0.044,3540,2110,2190,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1983,1.16,112.4,125.0,11.9,374,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,2110,2190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2110,1.16,112.4,110.4,10.8,399,2116,0.00,2.17,0.00,0.000,4,0.000,0.050,3540,693,2189,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2162,1.16,112.4,104.6,10.1,409,2168,0.00,2.17,0.00,0.000,6,0.000,0.043,3540,2119,2189,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2290,1.16,112.4,91.4,10.3,434,2296,0.00,2.15,0.00,0.000,4,0.000,0.055,3540,3527,2189,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2348,1.16,112.4,83.9,13.2,445,2354,0.00,2.10,0.00,0.000,6,0.000,0.040,3542,2108,2189,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2475,1.16,112.4,68.8,12.0,470,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,2108,2189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2602,1.16,112.4,53.9,12.5,495,2609,0.00,2.17,0.00,0.000,4,0.000,0.055,3542,3516,2188,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2640,1.16,112.4,49.8,10.3,502,2647,0.00,2.10,0.00,0.000,6,0.000,0.040,3548,2096,2188,0,0,0,0,0,0,28.83,26.87,28.83
$GC,2769,1.19,141.4,39.0,6.7,527,2798,0.00,2.20,21.42,0.484,4,0.000,0.055,3548,3515,2074,0,0,0,0,0,0,28.83,26.63,26.25
$GC,2819,1.19,141.4,35.1,8.7,536,2826,0.00,2.12,0.00,0.000,6,0.000,0.040,3557,2105,2070,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2887,1.19,141.4,27.8,11.4,549,2894,0.00,2.15,0.00,0.000,4,0.000,0.052,3562,698,2069,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2995,1.19,141.4,15.3,10.5,570,3002,0.00,2.12,0.00,0.000,6,0.000,0.043,3562,2108,2069,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3063,1.19,141.4,8.1,10.3,583,3069,0.00,2.15,0.00,0.000,4,0.000,0.056,3562,3515,2069,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,3120,end climb,SURFACE_DEPTH_REACHED
$STATE,3120,begin surface coast
$FINISH,0.4,1.020793
$STATE,3141,end surface coast,CONTROL_FINISHED_OK
$STATE,3141,begin surface
$SM_CCo,3158,53.12,0.146,0,0,1438,300.00
$SM_GC,1.11,9.15,2.12,53.12,0.063,0.038,0.146,181,2122,1438,-9.23,1.05,300.00,0,0,0,0,0,0,26.82,26.84,26.52
$IRIDIUM_FIX,4722.92,-12223.37,180713,060627
$TT8_MAMPS,0.029211,0.029211
$HUMID,50.98
$INTERNAL_PRESSURE,9.06413
$TCM_TEMP,18.30
$XPDR_PINGS,2
$24V_AH,25.2,1.866
$10V_AH,10.6,0.497
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,21.350,64.250,209.500,53.125,0.000,0.000,0.000,0.000,0.500,0.000,6.867,1317.088,664.224,397.244,870.716,25.800,33.233,898.836,0.000,861.658,0.000,0.546,0.000
$DEVICE_MAMPS,225.675,58.140,554.625,146.115,0.000,0.000,0.000,0.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,397.976,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323448
$DATA_FILE_SIZE,23452,598
$CAP_FILE_SIZE,76865,0
$CFSIZE,1024393216,1021575168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180713,070634,4742.359,-12225.193,39,1.3,39,16.3