version: 66.11
glider: 204
mission: 1
dive: 14
start: 7 18 113 8 22 20
data:
$ID,204
$MISSION,1
$DIVE,14
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$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,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,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,52978
$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,-366.86508
$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,20
$R_STBD_OVSHOOT,30
$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,-73.07518
$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,120
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$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
$GPS1,180713,081145,4741.805,-12226.521,3,0.9,3,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-69.2
$GPS2,180713,082126,4741.842,-12226.436,5,1.3,5,16.3
$SPEED_LIMITS,0.139,0.202
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.158,0.125
$KALMAN_X,-7507.7,18.2,-394.3,6030.0,-635.3
$KALMAN_Y,-8163.7,-49.9,-250.0,6209.7,-502.5
$MHEAD_RNG_PITCHd_Wd,35.4,2584,-18.6,-8.000
$D_GRID,185
$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,-0.96,-97.8,0.0,0.0,0,62,0.00,0.00,-45.17,0.000,2,0.000,0.000,191,612,2752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.96,-97.8,3.1,-5.2,8,88,9.62,0.00,-9.80,0.000,4,0.234,0.000,2595,612,3099,0,0,0,0,0,0,26.00,28.83,26.49
$GC,315,-0.96,-97.8,31.0,-10.6,57,322,0.00,2.28,0.00,0.000,6,0.000,0.060,2586,2054,3100,0,0,0,0,0,0,28.83,26.37,28.83
$GC,384,-0.96,-97.8,38.4,-10.6,70,391,0.00,2.28,0.00,0.000,4,0.000,0.070,2586,632,3099,0,0,0,0,0,0,28.83,26.39,28.83
$GC,617,-0.96,-97.8,64.9,-11.3,116,624,0.00,2.28,0.00,0.000,6,0.000,0.059,2576,2060,3100,0,0,0,0,0,0,28.83,26.51,28.83
$GC,745,-0.96,-97.8,78.3,-9.7,141,752,0.00,2.25,0.00,0.000,4,0.000,0.067,2576,639,3100,0,0,0,0,0,0,28.83,26.54,28.83
$GC,978,-0.96,-97.8,101.4,-9.2,187,986,0.12,2.20,0.00,0.000,6,0.187,0.057,2594,2058,3100,0,0,0,0,0,0,26.51,26.62,28.83
$GC,1107,-0.96,-97.8,111.5,-8.3,212,1114,0.00,2.25,0.00,0.000,4,0.000,0.068,2595,631,3100,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1341,-0.96,-97.8,134.0,-10.3,258,1348,0.00,2.22,0.00,0.000,6,0.000,0.057,2587,2064,3099,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1470,-0.96,-97.8,145.8,-9.4,283,1476,0.00,2.25,0.00,0.000,4,0.000,0.067,2586,632,3100,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1703,-0.96,-97.8,168.6,-10.5,329,1709,0.00,2.22,0.00,0.000,6,0.000,0.057,2577,2068,3100,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,1825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1825,begin apogee
$GC,1829,-0.23,0.0,180.4,-10.6,353,1908,0.80,0.00,72.70,0.643,6,0.142,0.000,2827,1941,2696,0,0,0,0,0,0,26.58,28.83,25.32
$STATE,1909,end apogee,CONTROL_FINISHED_OK
$STATE,1909,begin climb
$GC,1910,0.96,97.8,183.4,0.0,367,1989,1.15,2.42,71.60,0.562,4,0.093,0.060,3213,3369,2295,0,0,0,0,0,0,25.72,25.32,24.93
$GC,2215,0.96,97.8,149.3,14.0,426,2222,0.00,2.22,0.00,0.000,6,0.000,0.054,3213,1956,2292,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2344,0.96,97.8,133.7,11.2,451,2350,0.00,2.25,0.00,0.000,4,0.000,0.063,3213,3371,2292,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2577,0.96,97.8,103.9,12.9,497,2584,0.00,2.20,0.00,0.000,6,0.000,0.053,3212,1954,2292,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2705,0.96,97.8,87.9,11.4,522,2712,0.00,2.22,0.00,0.000,4,0.000,0.063,3213,3369,2292,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2938,0.96,97.8,59.0,10.5,568,2945,0.00,2.17,0.00,0.000,6,0.000,0.053,3213,1952,2292,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3066,0.96,97.8,46.6,10.8,593,3073,0.00,2.25,0.00,0.000,4,0.000,0.065,3213,3375,2292,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3299,0.96,97.8,21.9,8.4,639,3306,0.00,2.20,0.00,0.000,6,0.000,0.054,3213,1950,2291,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3367,0.96,97.8,15.8,9.3,652,3374,0.00,2.25,0.00,0.000,4,0.000,0.066,3213,3374,2292,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,3524,end climb,SURFACE_DEPTH_REACHED
$STATE,3524,begin surface coast
$FINISH,1.5,1.021295
$STATE,3530,end surface coast,CONTROL_FINISHED_OK
$STATE,3530,begin surface
$SM_CCo,3546,148.85,0.457,0,0,1473,300.00
$SM_GC,1.93,8.45,2.10,148.85,0.076,0.053,0.457,199,2046,1473,-8.39,0.54,300.00,0,0,0,0,0,0,26.71,26.68,25.21
$IRIDIUM_FIX,4726.11,-12225.08,180713,080846
$TT8_MAMPS,0.030709,0.030709
$HUMID,46.06
$INTERNAL_PRESSURE,9.0272
$TCM_TEMP,18.20
$XPDR_PINGS,0
$24V_AH,24.9,1.073
$10V_AH,10.5,0.637
$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,20.150,42.725,144.300,148.850,0.000,133.379,110.335,151.626,3.250,0.000,5.872,1531.675,928.381,387.988,1403.166,39.255,33.227,905.843,0.000,985.336,0.000,21.724,0.000
$DEVICE_MAMPS,234.090,77.265,643.365,456.705,0.000,12.240,160.000,223.000,420.000,0.000,26.220,18.710,2.190,18.710,44.920,61.400,68.890,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,460.824,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323640
$DATA_FILE_SIZE,26770,684
$CAP_FILE_SIZE,63749,0
$CFSIZE,1024393216,1021542400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180713,092432,4742.167,-12226.758,4,0.9,4,16.3