version: 66.11
glider: 201
mission: 1
dive: 7
start: 8 7 113 22 24 7
data:
$ID,201
$MISSION,1
$DIVE,7
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,1
$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,75
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,90
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51667
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038379999
$HD_B,0.01025
$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,280
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,5
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-475.06995
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3915
$C_PITCH,2985
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3101
$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
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,-68.747383
$PRESSURE_SLOPE,0.000115772
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.28
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043948898
$SEABIRD_T_H,0.000640176
$SEABIRD_T_I,2.7039805e-05
$SEABIRD_T_J,3.3535807e-06
$SEABIRD_C_G,-9.7607336
$SEABIRD_C_H,1.1271561
$SEABIRD_C_I,-0.0014806761
$SEABIRD_C_J,0.00019408599
$GPS1,070813,221857,4743.479,-12224.217,36,1.0,36,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-67.5
$GPS2,070813,222312,4743.413,-12224.219,5,1.0,5,16.3
$SPEED_LIMITS,0.139,0.191
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.016,0.190
$KALMAN_X,-270.6,171.0,57.5,796.9,-215.1
$KALMAN_Y,-1671.8,195.6,82.6,2634.2,-1056.9
$MHEAD_RNG_PITCHd_Wd,348.5,1711,-19.8,-8.000,-22.77,1677
$D_GRID,173
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_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,15,-1.12,-88.0,193,1955,1884,1883,0.0,0.0,0,52,0.00,0.00,-34.40,0.000,16386,0.000,0.000,193,1955,2773,2791,2755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-1.12,-88.0,193,1955,2791,2755,2.2,-4.8,6,95,9.10,2.05,-23.95,0.000,18948,0.225,0.059,2623,594,3458,3492,3425,0,0,0,0,0,0,26.39,26.63,26.96
$GC,116,-1.12,-88.0,2623,594,3493,3425,4.9,-9.1,17,123,0.00,2.08,0.00,0.000,1030,0.000,0.032,2615,2006,3459,3493,3425,0,0,0,0,0,0,28.83,26.67,28.83
$GC,185,-1.12,-88.0,2615,2006,3493,3426,12.6,-12.9,30,190,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2006,3459,3493,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,252,-1.12,-88.0,2615,2006,3494,3425,21.1,-13.3,43,258,0.00,2.12,0.00,0.000,260,0.000,0.050,2604,3395,3459,3493,3426,0,0,0,0,0,0,28.83,26.71,28.83
$GC,310,-1.12,-88.0,2604,3394,3494,3426,29.4,-14.0,54,316,0.00,2.10,0.00,0.000,1030,0.000,0.033,2604,1975,3459,3493,3426,0,0,0,0,0,0,28.83,26.79,28.83
$GC,378,-1.12,-88.0,2604,1974,3493,3426,38.4,-12.5,67,384,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1974,3459,3493,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,445,-1.12,-88.0,2604,1974,3493,3426,47.2,-12.9,80,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1974,3459,3493,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,572,-1.12,-88.0,2604,1974,3493,3426,64.1,-13.0,105,579,0.00,2.17,0.00,0.000,260,0.000,0.050,2593,3394,3460,3494,3426,0,0,0,0,0,0,28.83,26.83,28.83
$GC,711,-1.12,-88.0,2593,3395,3493,3427,81.4,-11.5,132,718,0.12,2.08,0.00,0.000,3078,0.170,0.033,2625,1979,3460,3494,3426,0,0,0,0,0,0,26.74,26.92,28.83
$GC,842,-1.12,-88.0,2625,1979,3493,3427,95.2,-9.9,157,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1979,3459,3493,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,969,-1.12,-88.0,2625,1979,3493,3427,108.4,-9.4,182,976,0.00,2.17,0.00,0.000,260,0.000,0.049,2616,3409,3460,3493,3427,0,0,0,0,0,0,28.83,26.91,28.83
$GC,1073,-1.12,-88.0,2616,3409,3493,3427,119.0,-9.7,202,1081,0.00,2.10,0.00,0.000,1030,0.000,0.033,2617,1978,3460,3493,3427,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1202,-1.12,-88.0,2616,1978,3494,3427,131.7,-9.3,227,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1978,3459,3493,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1330,-1.12,-88.0,2616,1978,3493,3427,146.0,-11.9,252,1337,0.00,2.17,0.00,0.000,260,0.000,0.050,2605,3408,3460,3493,3427,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1388,-1.12,-88.0,2605,3408,3493,3427,152.5,-11.1,263,1395,0.00,2.10,0.00,0.000,1030,0.000,0.034,2606,1974,3459,3493,3426,0,0,0,0,0,0,28.83,27.03,28.83
$GC,1517,-1.12,-88.0,2605,1974,3493,3427,166.3,-10.9,288,1523,0.00,2.17,0.00,0.000,260,0.000,0.050,2594,3405,3460,3493,3427,0,0,0,0,0,0,28.83,26.98,28.83
$STATE,1574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1574,begin apogee
$GC,1579,-0.26,0.0,2595,1988,3493,3427,173.3,-13.0,299,1653,0.90,0.00,64.93,0.496,10244,0.133,0.000,2894,1984,3093,3143,3044,0,0,0,0,0,0,26.86,28.83,25.89
$STATE,1654,end apogee,CONTROL_FINISHED_OK
$STATE,1654,begin climb
$GC,1655,1.12,88.0,2894,1984,3142,3042,176.5,0.0,312,1722,1.23,0.00,62.78,0.503,11270,0.083,0.000,3344,1984,2740,2775,2705,0,0,0,0,0,0,26.33,28.83,25.46
$GC,1845,1.12,88.0,3344,1984,2764,2693,161.1,10.7,348,1852,0.00,2.10,0.00,0.000,516,0.000,0.046,3353,611,2728,2764,2693,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1989,1.12,88.0,3353,611,2764,2693,145.4,10.8,376,1996,0.00,2.05,0.00,0.000,1030,0.000,0.033,3353,2000,2728,2764,2693,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2118,1.13,93.9,3353,1999,2764,2693,134.5,7.6,401,2124,0.00,0.00,1.05,0.203,8198,0.000,0.000,3353,2000,2718,2757,2679,0,0,0,0,0,0,28.83,28.83,26.46
$GC,2246,1.13,93.9,3353,2000,2767,2687,122.5,9.7,426,2254,0.00,2.12,0.95,0.214,8452,0.000,0.047,3353,3395,2719,2759,2680,0,0,0,0,0,0,28.83,26.67,26.55
$GC,2305,1.13,93.9,3353,3395,2766,2687,116.1,10.5,437,2313,0.00,2.05,0.95,0.214,9222,0.000,0.035,3356,2011,2717,2756,2678,0,0,0,0,0,0,28.83,26.74,26.57
$GC,2435,1.13,93.9,2384,2009,2723,2680,104.1,9.1,462,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2010,2726,2766,2687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2563,1.13,98.4,3356,2011,2766,2687,94.1,7.7,487,2569,0.00,0.00,2.62,0.389,8198,0.000,0.000,3356,2010,2703,2744,2663,0,0,0,0,0,0,28.83,28.83,25.91
$GC,2692,1.13,98.4,2368,2009,2719,2672,82.4,10.6,512,2700,0.00,2.17,1.88,0.197,8708,0.000,0.045,3366,596,2707,2748,2666,0,0,0,0,0,0,28.83,26.84,26.50
$GC,2751,1.13,98.4,3366,596,2760,2679,76.1,10.3,523,2759,0.00,2.10,2.00,0.203,9222,0.000,0.033,3367,2025,2702,2742,2662,0,0,0,0,0,0,28.83,26.87,24.18
$GC,2880,1.13,98.4,2432,2022,2720,2672,62.5,9.8,548,2887,0.00,0.00,1.80,0.199,8198,0.000,0.000,3367,2025,2703,2745,2662,0,0,0,0,0,0,28.83,28.83,26.53
$GC,3008,1.13,98.4,3366,2025,2759,2677,51.3,8.4,573,3016,0.00,2.15,1.73,0.195,8452,0.000,0.050,3367,3398,2704,2745,2664,0,0,0,0,0,0,28.83,26.87,26.60
$GC,3068,1.13,98.4,3366,3398,2758,2678,46.3,8.5,584,3075,0.00,2.03,1.70,0.191,9222,0.000,0.034,3374,2012,2701,2741,2662,0,0,0,0,0,0,28.83,26.94,26.64
$GC,3197,1.13,98.4,3374,2012,2758,2677,36.0,8.1,609,3204,0.00,0.00,1.80,0.197,8198,0.000,0.000,3375,2012,2701,2742,2661,0,0,0,0,0,0,28.83,28.83,26.59
$GC,3266,1.13,98.4,3374,2012,2755,2674,30.4,8.2,622,3273,0.00,2.10,1.42,0.197,8708,0.000,0.044,3384,604,2703,2744,2662,0,0,0,0,0,0,28.83,26.92,26.70
$GC,3320,1.13,98.4,3383,604,2755,2674,26.0,8.1,632,3328,0.12,2.08,1.38,0.194,13318,0.196,0.033,3354,2034,2700,2741,2660,0,0,0,0,0,0,26.74,26.96,26.72
$GC,3390,1.15,110.1,3354,2034,2755,2673,20.9,7.3,645,3409,0.00,2.08,12.15,0.409,8452,0.000,0.047,3354,3405,2644,2685,2604,0,0,0,0,0,0,28.83,26.82,26.41
$GC,3440,1.15,110.1,3354,3405,2682,2599,17.0,8.6,654,3447,0.00,2.03,0.00,0.000,1030,0.000,0.034,3363,2029,2640,2682,2599,0,0,0,0,0,0,28.83,26.88,28.83
$GC,3509,1.15,110.1,3362,2028,2682,2599,11.3,9.2,667,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2029,2640,2682,2599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3576,1.15,110.1,3362,2028,2682,2599,5.3,8.4,680,3583,0.00,2.08,0.00,0.000,260,0.000,0.050,3362,3394,2640,2682,2599,0,0,0,0,0,0,28.83,26.87,28.83
$STATE,3603,end climb,SURFACE_DEPTH_REACHED
$STATE,3603,begin surface coast
$FINISH,0.4,1.009196
$STATE,3634,end surface coast,CONTROL_FINISHED_OK
$STATE,3634,begin surface
$SM_CCo,3651,58.80,0.135,0,0,1957,280.13
$SM_GC,1.80,8.12,2.12,58.80,0.047,0.034,0.135,192,1985,1957,-8.64,1.27,280.13,0,0,0,0,0,0,26.91,26.94,26.58
$IRIDIUM_FIX,4729.30,-12225.08,070813,212136
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.24
$INTERNAL_PRESSURE,8.85711
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.6,7.0
$24V_AH,24.2,0.474
$10V_AH,10.6,0.339
$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,19.600,54.700,159.125,58.800,0.000,24.760,32.252,134.797,0.500,0.000,5.874,1562.907,805.622,361.880,1198.658,52.283,33.235,920.827,0.000,992.398,0.000,5.450,0.000
$DEVICE_MAMPS,224.910,58.905,503.370,134.640,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.952,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323020
$DATA_FILE_SIZE,20063,691
$CAP_FILE_SIZE,78453,0
$CFSIZE,260034560,256532480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070813,232634,4743.331,-12224.334,3,1.4,3,16.3