version: 66.11
glider: 201
mission: 1
dive: 14
start: 8 8 113 6 10 49
data:
$ID,201
$MISSION,1
$DIVE,14
$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,100
$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,300
$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,-483.95044
$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,2983
$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,52
$R_STBD_OVSHOOT,40
$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,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,-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
$GPS1,080813,060534,4744.163,-12223.809,35,1.0,35,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.4
$GPS2,080813,060952,4744.176,-12223.826,5,0.9,5,16.3
$SPEED_LIMITS,0.139,0.200
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.064,-0.189
$KALMAN_X,-909.3,-92.3,72.2,2171.4,-14.9
$KALMAN_Y,-4125.9,-98.1,567.0,6290.9,156.0
$MHEAD_RNG_PITCHd_Wd,182.4,2991,-18.7,-8.000,-21.79,1862
$D_GRID,169
$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,14,-1.08,-97.8,193,2006,1962,1967,0.0,0.0,0,46,0.00,0.00,-29.62,0.000,16386,0.000,0.000,193,2005,2730,2748,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-1.08,-97.8,193,2006,2748,2713,2.2,-4.7,5,90,9.12,2.12,-25.08,0.000,18948,0.224,0.057,2633,594,3499,3534,3464,0,0,0,0,0,0,26.37,26.60,26.91
$GC,316,-1.08,-97.8,2632,594,3534,3464,35.7,-16.9,57,323,0.00,2.08,0.00,0.000,1030,0.000,0.032,2625,2006,3499,3534,3465,0,0,0,0,0,0,28.83,26.77,28.83
$GC,384,-1.08,-97.8,2625,2006,3534,3465,45.5,-14.6,70,391,0.00,2.12,0.00,0.000,260,0.000,0.049,2614,3406,3499,3534,3465,0,0,0,0,0,0,28.83,26.74,28.83
$GC,497,-1.08,-97.8,2614,3406,3534,3465,63.5,-15.4,92,504,0.00,2.05,0.00,0.000,1030,0.000,0.033,2614,2011,3499,3534,3464,0,0,0,0,0,0,28.83,26.83,28.83
$GC,626,-1.08,-97.8,2614,2008,3533,3464,82.4,-15.3,117,633,0.00,2.10,0.00,0.000,516,0.000,0.044,2615,599,3499,3534,3465,0,0,0,0,0,0,28.83,26.84,28.83
$GC,754,-1.08,-97.8,2614,599,3534,3464,101.7,-13.5,142,762,0.12,2.08,0.00,0.000,3078,0.166,0.032,2637,2014,3499,3534,3465,0,0,0,0,0,0,26.74,26.90,28.83
$GC,884,-1.08,-97.8,2637,2014,3534,3465,117.2,-10.0,167,891,0.00,2.10,0.00,0.000,260,0.000,0.050,2628,3405,3499,3534,3465,0,0,0,0,0,0,28.83,26.87,28.83
$GC,1032,-1.08,-97.8,2628,3405,3533,3465,132.6,-11.3,196,1039,0.00,2.00,0.00,0.000,1030,0.000,0.033,2629,2034,3498,3533,3464,0,0,0,0,0,0,28.83,26.96,28.83
$GC,1161,-1.08,-97.8,2628,2033,3534,3465,147.5,-12.4,221,1168,0.00,2.12,0.00,0.000,516,0.000,0.045,2629,600,3499,3534,3465,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1209,-1.08,-97.8,2628,600,3534,3464,154.5,-15.1,230,1216,0.00,2.10,0.00,0.000,1030,0.000,0.032,2618,2034,3499,3534,3465,0,0,0,0,0,0,28.83,26.98,28.83
$STATE,1326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1326,begin apogee
$GC,1330,-0.26,0.0,2618,2033,3534,3465,169.4,-12.1,253,1408,0.82,0.00,71.43,0.498,10244,0.122,0.000,2899,2034,3093,3143,3044,0,0,0,0,0,0,26.84,28.83,25.78
$STATE,1409,end apogee,CONTROL_FINISHED_OK
$STATE,1409,begin climb
$GC,1411,1.08,97.8,2899,2034,3140,3042,172.9,0.0,267,1489,1.17,0.00,70.00,0.496,11270,0.080,0.000,3331,2034,2691,2728,2655,0,0,0,0,0,0,26.22,28.83,25.34
$GC,1612,1.08,97.8,3331,2035,2723,2650,157.7,10.3,305,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,2034,2686,2723,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1739,1.08,97.8,3331,2034,2722,2650,143.6,11.2,330,1746,0.00,2.20,0.00,0.000,516,0.000,0.045,3341,600,2686,2722,2650,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1767,1.08,97.8,3340,600,2722,2650,140.5,10.4,335,1774,0.00,2.08,0.00,0.000,1030,0.000,0.032,3340,1994,2686,2722,2650,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1896,1.08,97.8,3341,1994,2723,2650,127.2,9.2,360,1902,0.00,2.12,0.00,0.000,516,0.000,0.045,3351,596,2686,2723,2650,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2004,1.08,97.8,3351,596,2722,2649,117.6,8.1,381,2011,0.00,2.00,0.00,0.000,1030,0.000,0.032,3351,1952,2685,2722,2649,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2132,1.08,97.8,2376,1950,2678,2643,106.4,8.2,406,2139,0.00,2.22,0.00,0.000,260,0.000,0.050,3351,3406,2686,2722,2650,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2225,1.08,97.8,2408,3405,2681,2643,98.1,8.7,424,2232,0.12,2.15,0.00,0.000,5126,0.190,0.034,3331,1956,2685,2722,2649,0,0,0,0,0,0,26.60,26.78,28.83
$GC,2354,1.08,97.8,3330,1956,2722,2649,88.0,8.2,449,2361,0.00,2.22,0.00,0.000,260,0.000,0.049,3331,3402,2685,2722,2649,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2392,1.08,97.8,3330,3402,2722,2649,84.7,8.8,456,2399,0.00,2.12,0.00,0.000,1030,0.000,0.034,3339,1965,2685,2722,2649,0,0,0,0,0,0,28.83,26.84,28.83
$GC,2521,1.11,119.9,3338,1965,2722,2649,74.9,6.8,481,2545,0.00,2.05,16.45,0.447,8708,0.000,0.045,3348,593,2600,2638,2563,0,0,0,0,0,0,28.83,26.67,26.22
$GC,2702,1.11,119.9,3348,592,2634,2560,59.6,9.0,516,2709,0.00,2.03,0.00,0.000,1030,0.000,0.032,3348,1972,2597,2634,2560,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2832,1.11,126.5,3348,1971,2634,2560,49.2,7.6,541,2840,0.00,2.17,1.35,0.190,8452,0.000,0.047,3348,3394,2586,2629,2543,0,0,0,0,0,0,28.83,26.79,26.66
$GC,3066,1.13,140.8,2400,3392,2592,2547,31.2,7.2,587,3089,0.00,2.08,15.57,0.432,9222,0.000,0.034,3359,1985,2517,2560,2475,0,0,0,0,0,0,28.83,26.91,26.30
$GC,3151,1.13,140.8,3359,1985,2555,2470,23.0,10.0,603,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,1985,2512,2554,2470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3219,1.13,140.8,3358,1985,2554,2470,16.2,10.6,616,3225,0.00,2.08,0.00,0.000,516,0.000,0.047,3368,596,2511,2553,2470,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3278,1.13,140.8,3368,596,2553,2469,9.8,11.2,627,3285,0.00,1.98,0.00,0.000,1030,0.000,0.033,3368,1945,2511,2553,2470,0,0,0,0,0,0,28.83,26.84,28.83
$STATE,3345,end climb,SURFACE_DEPTH_REACHED
$STATE,3345,begin surface coast
$FINISH,0.2,1.020983
$STATE,3377,end surface coast,CONTROL_FINISHED_OK
$STATE,3377,begin surface
$SM_CCo,3391,55.53,0.136,0,0,1876,300.00
$SM_GC,2.13,8.20,0.00,55.53,0.049,0.000,0.136,196,1946,1876,-8.64,-1.55,300.00,0,0,0,0,0,0,26.84,28.83,26.55
$IRIDIUM_FIX,4726.11,-12220.67,080813,050508
$TT8_MAMPS,0.027713,0.027713
$HUMID,51.65
$INTERNAL_PRESSURE,8.85711
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,25.3,0.746
$10V_AH,10.6,0.579
$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,19.575,50.375,174.800,55.525,0.000,22.474,33.952,136.605,0.000,0.000,5.926,1440.695,753.934,346.000,1134.871,46.176,33.214,862.221,0.000,929.032,0.000,0.544,0.000
$DEVICE_MAMPS,224.145,56.610,498.015,136.170,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,431.656,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323076
$DATA_FILE_SIZE,20103,646
$CAP_FILE_SIZE,67831,0
$CFSIZE,260034560,256278528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080813,070851,4743.967,-12224.029,2,0.9,3,16.3