version: 66.11
glider: 201
mission: 1
dive: 18
start: 8 8 113 10 29 55
data:
$ID,201
$MISSION,1
$DIVE,18
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-488.97174
$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,53
$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,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
$GPS1,080813,102547,4742.917,-12224.804,3,1.1,4,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.6
$GPS2,080813,102859,4742.909,-12224.823,4,1.1,4,16.3
$SPEED_LIMITS,0.139,0.200
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.054,0.128
$KALMAN_X,-430.8,-1.4,180.2,256.8,151.9
$KALMAN_Y,-4677.9,803.8,420.8,3747.6,-685.4
$MHEAD_RNG_PITCHd_Wd,320.8,388,-27.5,-8.000,-30.00,879
$D_GRID,180
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.47,-46.0,188,2029,1881,1888,0.0,0.0,0,52,0.00,0.00,-34.17,0.000,16386,0.000,0.000,188,2029,2766,2784,2749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-1.51,-79.0,188,2029,2782,2750,2.1,-4.2,6,95,8.52,2.20,-22.40,0.000,18948,0.224,0.059,2490,607,3424,3458,3390,0,0,0,0,0,0,26.46,26.69,27.00
$GC,321,-1.51,-79.0,2490,608,3458,3390,46.1,-19.5,58,328,0.00,2.05,0.00,0.000,1030,0.000,0.032,2482,2006,3424,3458,3391,0,0,0,0,0,0,28.83,26.83,28.83
$GC,451,-1.51,-79.0,2482,2006,3458,3391,68.3,-14.2,83,458,0.00,2.10,0.00,0.000,516,0.000,0.043,2482,596,3424,3458,3391,0,0,0,0,0,0,28.83,26.84,28.83
$GC,684,-1.51,-79.0,2482,595,3458,3391,105.6,-16.5,129,691,0.00,2.08,0.00,0.000,1030,0.000,0.032,2472,2013,3424,3458,3391,0,0,0,0,0,0,28.83,26.93,28.83
$GC,813,-1.51,-79.0,2471,2013,3458,3390,126.2,-17.2,154,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2013,3425,3458,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,940,-1.51,-79.0,2471,2013,3458,3391,146.5,-15.2,179,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2013,3424,3458,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1069,-1.51,-79.0,2472,2013,3458,3391,167.4,-14.7,204,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2013,3424,3458,3391,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1145,begin apogee
$GC,1149,-0.26,0.0,2471,2013,3458,3391,180.4,-16.6,219,1216,1.30,0.00,59.67,0.516,10244,0.143,0.000,2894,2012,3092,3142,3043,0,0,0,0,0,0,26.82,28.83,25.87
$STATE,1217,end apogee,CONTROL_FINISHED_OK
$STATE,1217,begin climb
$GC,1218,1.51,79.0,2894,2013,3139,3042,184.1,0.0,231,1280,1.52,0.00,56.53,0.503,11270,0.080,0.000,3470,2012,2772,2807,2738,0,0,0,0,0,0,26.32,28.83,25.46
$GC,1403,1.51,79.0,2560,2010,2756,2724,167.7,12.6,266,1409,0.00,2.17,0.00,0.000,516,0.000,0.044,3480,597,2763,2796,2730,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1481,1.51,79.0,3479,597,2796,2730,158.3,11.0,281,1488,0.00,2.10,0.00,0.000,1030,0.000,0.031,3480,2004,2763,2796,2730,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1610,1.51,79.0,3480,2004,2795,2730,144.7,12.1,306,1617,0.00,2.12,0.00,0.000,516,0.000,0.044,3490,604,2762,2795,2730,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1793,1.51,79.0,3490,604,2795,2730,118.9,13.2,342,1800,0.00,2.05,0.00,0.000,1030,0.000,0.032,3491,1993,2763,2796,2730,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1922,1.51,79.0,3490,1994,2795,2730,104.8,10.6,367,1929,0.00,2.15,0.00,0.000,260,0.000,0.049,3491,3401,2762,2795,2730,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1990,1.51,79.0,3491,3401,2795,2730,97.2,11.7,380,1998,0.15,2.10,0.00,0.000,5126,0.207,0.033,3466,1977,2762,2795,2730,0,0,0,0,0,0,26.55,26.78,28.83
$GC,2120,1.51,79.0,3466,1978,2796,2730,84.8,9.5,405,2126,0.00,2.05,0.00,0.000,516,0.000,0.044,3474,597,2762,2795,2730,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2228,1.51,79.0,2608,597,2757,2724,74.5,9.5,426,2234,0.00,2.00,0.00,0.000,1030,0.000,0.032,3474,1967,2762,2795,2730,0,0,0,0,0,0,28.83,26.85,28.83
$GC,2358,1.51,79.0,3474,1967,2795,2730,63.8,8.7,451,2364,0.00,2.05,0.00,0.000,516,0.000,0.045,3477,603,2762,2795,2730,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2591,1.51,79.0,3476,603,2795,2730,39.9,9.9,497,2597,0.00,1.95,0.00,0.000,1030,0.000,0.032,3477,1945,2762,2795,2730,0,0,0,0,0,0,28.83,26.94,28.83
$GC,2660,1.51,79.0,3477,1945,2795,2730,33.8,8.7,510,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,1945,2762,2795,2730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2727,1.51,79.0,3477,1945,2795,2730,28.0,8.3,523,2734,0.00,2.03,0.00,0.000,516,0.000,0.044,3487,593,2762,2795,2730,0,0,0,0,0,0,28.83,26.94,28.83
$GC,2961,1.51,83.4,3487,593,2794,2730,8.3,7.5,569,2967,0.00,1.98,0.00,0.000,1030,0.000,0.032,3488,1953,2762,2794,2730,0,0,0,0,0,0,28.83,27.00,28.83
$GC,3029,1.53,95.2,3487,1953,2795,2730,3.7,6.6,582,3042,0.00,2.08,4.53,0.151,8708,0.000,0.044,3497,596,2712,2749,2676,0,0,0,0,0,0,28.83,26.96,26.82
$STATE,3047,end climb,SURFACE_DEPTH_REACHED
$STATE,3047,begin surface coast
$FINISH,0.3,1.021292
$STATE,3104,end surface coast,CONTROL_FINISHED_OK
$STATE,3104,begin surface
$SM_CCo,3120,73.97,0.137,0,0,1874,300.00
$SM_GC,2.11,8.50,2.10,73.97,0.049,0.032,0.137,186,2001,1874,-8.65,-1.50,300.00,0,0,0,0,0,0,26.98,27.00,26.62
$IRIDIUM_FIX,4726.11,-12220.67,080813,090930
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.92
$INTERNAL_PRESSURE,8.84734
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,25.5,0.877
$10V_AH,10.6,0.710
$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,20.000,37.350,120.725,73.975,0.000,23.168,30.618,74.668,0.000,0.000,5.865,1342.613,710.898,310.056,991.499,46.866,33.196,776.306,0.000,858.237,0.000,0.544,0.000
$DEVICE_MAMPS,224.145,58.905,515.610,136.935,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,399.163,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323188
$DATA_FILE_SIZE,16785,596
$CAP_FILE_SIZE,58552,0
$CFSIZE,260034560,256139264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080813,112346,4742.845,-12225.265,4,1.6,4,16.3