version: 66.11
glider: 204
mission: 3
dive: 20
start: 8 8 113 13 46 33
data:
$ID,204
$MISSION,3
$DIVE,20
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,2
$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,60
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52992
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,-962.24225
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,2910
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2056
$C_ROLL_CLIMB,1954
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2700
$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,-72.872421
$PRESSURE_SLOPE,0.0001157966
$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,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,16
$ALTIM_PULSE,9
$ALTIM_SENSITIVITY,0
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0092000002
$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,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$GPS1,080813,134121,4744.064,-12223.185,38,1.2,38,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-67.6
$GPS2,080813,134538,4744.038,-12223.146,6,1.3,6,16.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.191,-0.138
$KALMAN_X,28.4,249.8,-59.3,1612.2,29.6
$KALMAN_Y,-6863.8,1301.0,-711.5,8176.7,-206.6
$MHEAD_RNG_PITCHd_Wd,217.8,3222,-20.4,-10.000
$D_GRID,132
$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,15,-1.07,-117.3,0.0,0.0,0,63,0.00,0.00,-45.88,0.000,2,0.000,0.000,196,2063,2762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-1.07,-117.3,3.2,-6.0,8,95,11.30,2.25,-11.23,0.000,4,0.296,0.082,2546,3465,3182,0,0,0,0,0,0,25.98,26.22,26.55
$GC,322,-1.07,-117.3,39.1,-15.1,58,329,0.00,2.20,0.00,0.000,6,0.000,0.050,2555,2046,3182,0,0,0,0,0,0,28.83,26.42,28.83
$GC,390,-1.07,-117.3,47.8,-13.2,71,397,0.00,2.28,0.00,0.000,4,0.000,0.067,2546,3465,3182,0,0,0,0,0,0,28.83,26.42,28.83
$GC,433,-1.07,-117.3,53.8,-15.0,79,439,0.00,2.17,0.00,0.000,6,0.000,0.050,2555,2050,3182,0,0,0,0,0,0,28.83,26.47,28.83
$GC,560,-1.07,-117.3,70.7,-12.9,104,567,0.00,2.28,0.00,0.000,4,0.000,0.067,2546,3475,3181,0,0,0,0,0,0,28.83,26.49,28.83
$GC,628,-1.07,-117.3,79.1,-12.4,117,635,0.00,2.17,0.00,0.000,6,0.000,0.049,2555,2049,3181,0,0,0,0,0,0,28.83,26.54,28.83
$GC,756,-1.07,-117.3,94.6,-11.7,142,763,0.00,2.20,0.00,0.000,4,0.000,0.068,2566,652,3182,0,0,0,0,0,0,28.83,26.54,28.83
$GC,824,-1.07,-117.3,102.8,-12.3,155,831,0.00,2.17,0.00,0.000,6,0.000,0.053,2557,2058,3182,0,0,0,0,0,0,28.83,26.58,28.83
$GC,952,-1.07,-117.3,118.9,-12.7,180,958,0.00,2.20,0.00,0.000,4,0.000,0.068,2546,3465,3182,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,1047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1047,begin apogee
$GC,1053,-0.23,0.0,132.6,-14.4,198,1143,1.08,0.00,84.80,0.589,6,0.243,0.000,2824,1947,2696,0,0,0,0,0,0,26.43,28.83,25.25
$STATE,1144,end apogee,CONTROL_FINISHED_OK
$STATE,1144,begin climb
$GC,1145,1.07,117.3,137.9,0.0,214,1241,1.67,2.38,84.95,0.547,4,0.232,0.068,3234,3360,2212,0,0,0,0,0,0,25.49,25.22,24.87
$GC,1287,1.07,117.3,123.1,17.1,240,1294,0.00,2.25,0.00,0.000,6,0.000,0.051,3242,1954,2209,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1415,1.07,117.3,107.7,13.7,265,1422,0.00,2.30,0.00,0.000,4,0.000,0.068,3234,3367,2208,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1443,1.07,117.3,104.0,13.1,270,1450,0.00,2.22,0.00,0.000,6,0.000,0.053,3243,1953,2208,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1571,1.07,117.3,88.1,10.9,295,1578,0.00,2.28,0.00,0.000,4,0.000,0.068,3234,3363,2208,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1599,1.07,117.3,84.6,12.7,300,1606,0.00,2.20,0.00,0.000,6,0.000,0.052,3243,1952,2208,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1728,1.07,117.3,67.7,13.2,325,1734,0.00,2.28,0.00,0.000,4,0.000,0.067,3254,537,2209,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1811,1.07,117.3,55.4,14.4,341,1817,0.00,2.22,0.00,0.000,6,0.000,0.054,3245,1954,2208,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1938,1.07,117.3,38.7,12.3,366,1945,0.00,2.25,0.00,0.000,4,0.000,0.072,3234,3368,2208,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2066,1.07,117.3,24.8,10.4,391,2073,0.00,2.22,0.00,0.000,6,0.000,0.054,3243,1947,2208,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2135,1.13,162.8,19.2,7.4,404,2159,0.00,2.28,15.90,0.165,4,0.000,0.073,3254,538,2036,0,0,0,0,0,0,28.83,26.41,26.33
$GC,2195,1.16,185.8,13.9,8.7,415,2214,0.12,2.25,8.80,0.161,6,0.242,0.056,3270,1962,1940,0,0,0,0,0,0,26.32,26.46,26.32
$GC,2275,1.18,201.2,6.7,9.1,430,2288,0.00,2.22,6.30,0.152,4,0.000,0.070,3261,3362,1876,0,0,0,0,0,0,28.83,26.41,26.36
$STATE,2319,end climb,SURFACE_DEPTH_REACHED
$STATE,2319,begin surface coast
$FINISH,0.8,1.011395
$STATE,2334,end surface coast,CONTROL_FINISHED_OK
$STATE,2334,begin surface
$SM_CCo,2352,35.05,0.134,0,0,1475,300.00
$SM_GC,1.62,9.95,2.10,35.05,0.147,0.051,0.134,198,2044,1475,-8.39,0.48,300.00,0,0,0,0,0,0,26.47,26.47,26.27
$IRIDIUM_FIX,4726.11,-12225.08,080813,121245
$TT8_MAMPS,0.030709,0.030709
$HUMID,52.52
$INTERNAL_PRESSURE,9.0824
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,24.9,3.024
$10V_AH,10.5,1.608
$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,24.125,53.750,200.750,35.050,0.000,23.523,28.483,140.215,1.750,0.000,6.736,975.878,466.606,337.941,845.443,35.798,33.238,725.116,0.000,642.666,0.000,12.016,0.000
$DEVICE_MAMPS,296.055,81.855,589.050,133.875,0.000,12.240,160.000,223.000,420.000,0.000,26.220,18.710,2.190,18.710,44.920,61.400,68.890,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,292.457,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323556
$DATA_FILE_SIZE,16775,441
$CAP_FILE_SIZE,52809,0
$CFSIZE,1024393216,1021198336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080813,142656,4743.844,-12223.421,3,1.1,3,16.3