version: 66.11
glider: 206
mission: 1
dive: 13
start: 6 2 115 23 30 42
data:
$ID,206
$MISSION,1
$DIVE,13
$N_DIVES,25
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,45
$D_BOOST,0
$T_BOOST,0
$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,85
$T_ABORT,1440
$T_TURN,300
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53113
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$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,235
$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,45
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1097.559
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3912
$C_PITCH,2878
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.1
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,262
$ROLL_MAX,3863
$ROLL_DEG,40
$C_ROLL_DIVE,2099
$C_ROLL_CLIMB,1809
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2341
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$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,5
$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,-43.092354
$PRESSURE_SLOPE,0.0001158948
$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,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,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,131
$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,0.0044039036
$SEABIRD_T_H,0.0006378853
$SEABIRD_T_I,2.5652185e-05
$SEABIRD_T_J,3.0680867e-06
$SEABIRD_C_G,-9.7477055
$SEABIRD_C_H,1.1309673
$SEABIRD_C_I,-0.0010514539
$SEABIRD_C_J,0.00016674379
$GPS1,030615,062455,4743.798,-12224.739,2,1.3,2,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-65.9
$GPS2,030615,063028,4743.815,-12224.784,4,1.3,5,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.189,-0.149
$KALMAN_X,864.7,9.0,248.0,-838.7,816.2
$KALMAN_Y,-6247.4,-89.5,242.2,7558.2,-69.0
$MHEAD_RNG_PITCHd_Wd,215.5,2064,-14.0,-8.000,-18.40,2768
$D_GRID,175
$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,-0.91,-146.6,196,2095,1408,1380,0.0,0.0,0,62,0.00,0.00,-45.28,0.000,16386,0.000,0.000,197,2094,2753,2802,2705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.91,-146.6,196,2095,2802,2707,3.3,-6.9,7,86,9.45,2.17,-3.65,0.000,18692,0.235,0.054,2568,3500,2925,2999,2851,0,0,0,0,0,0,25.94,26.15,26.42
$GC,92,-0.91,-146.6,2568,3500,3000,2852,8.8,-17.3,11,100,0.00,2.15,0.00,0.000,1030,0.000,0.026,2568,2082,2925,3000,2851,0,0,0,0,0,0,28.83,26.22,28.83
$GC,161,-0.91,-146.6,1536,2079,2959,2845,16.2,-10.3,24,168,0.00,2.10,0.00,0.000,516,0.000,0.037,2568,713,2926,3001,2851,0,0,0,0,0,0,28.83,26.25,28.83
$GC,425,-0.91,-146.6,1504,713,2958,2846,41.1,-7.9,76,433,0.00,2.10,0.00,0.000,1030,0.000,0.024,2560,2097,2926,3001,2852,0,0,0,0,0,0,28.83,26.45,28.83
$GC,496,-0.91,-146.6,1536,2094,2961,2846,46.6,-9.1,89,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2097,2926,3001,2852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,564,-0.91,-146.6,2559,2097,3001,2852,53.0,-9.7,102,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2097,2926,3001,2852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,694,-0.91,-146.6,2559,2097,3001,2852,67.1,-12.3,127,701,0.00,2.12,0.00,0.000,260,0.000,0.043,2550,3496,2926,3001,2852,0,0,0,0,0,0,28.83,26.49,28.83
$GC,742,-0.91,-146.6,2550,3495,3001,2852,73.5,-13.9,136,750,0.08,2.10,0.00,0.000,3078,0.146,0.027,2574,2085,2926,3001,2852,0,0,0,0,0,0,26.40,26.56,28.83
$GC,874,-0.91,-146.6,2574,2085,3001,2852,89.9,-12.1,161,881,0.00,2.03,0.00,0.000,516,0.000,0.036,2574,713,2926,3001,2852,0,0,0,0,0,0,28.83,26.55,28.83
$GC,912,-0.91,-146.6,2574,714,3001,2853,95.1,-13.9,168,919,0.00,2.10,0.00,0.000,1030,0.000,0.024,2568,2102,2927,3001,2853,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1044,-0.91,-146.6,2568,2102,3002,2853,111.1,-11.9,193,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2102,2927,3001,2853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1171,-0.91,-146.6,2568,2102,3001,2853,125.8,-10.6,218,1179,0.00,2.12,0.00,0.000,516,0.000,0.036,2568,709,2927,3001,2853,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1191,-0.91,-146.6,2568,709,3002,2853,128.0,-11.2,221,1198,0.00,2.08,0.00,0.000,1030,0.000,0.024,2561,2109,2927,3001,2853,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1320,-0.91,-146.6,2560,2109,3002,2853,140.8,-10.5,246,1327,0.00,2.15,0.00,0.000,260,0.000,0.043,2552,3502,2927,3002,2853,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1360,-0.91,-146.6,2552,3502,3002,2853,144.5,-9.4,253,1367,0.12,2.05,0.00,0.000,3078,0.174,0.026,2582,2087,2927,3002,2853,0,0,0,0,0,0,26.51,26.67,28.83
$GC,1490,-0.91,-146.6,2582,2087,3001,2852,155.8,-9.9,278,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2087,2927,3002,2853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1620,-0.91,-146.6,2582,2087,3002,2853,167.4,-9.8,303,1627,0.00,2.17,0.00,0.000,260,0.000,0.043,2575,3509,2927,3002,2853,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,1703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1704,begin apogee
$GC,1709,-0.26,0.0,2575,1809,3001,2853,175.1,-9.5,319,1821,0.65,0.00,103.62,1.209,10246,0.130,0.000,2788,1809,2342,2403,2282,0,0,0,0,0,0,26.55,28.83,24.00
$STATE,1822,end apogee,CONTROL_FINISHED_OK
$STATE,1822,begin climb
$GC,1823,0.91,146.6,2787,1809,2404,2282,179.9,0.0,338,1941,1.15,2.33,108.38,1.199,11012,0.090,0.036,3168,3219,1758,1813,1704,0,0,0,0,0,0,25.03,24.77,23.86
$GC,2051,0.91,146.6,3168,3219,1811,1700,159.8,13.2,379,2058,0.00,2.15,0.00,0.000,1030,0.000,0.028,3169,1818,1755,1811,1699,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2182,0.91,146.6,3168,1818,1811,1698,145.9,8.9,404,2189,0.00,2.22,0.00,0.000,516,0.000,0.042,3178,412,1754,1811,1697,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2242,0.91,146.6,3178,411,1810,1697,139.1,11.2,415,2249,0.00,2.12,0.00,0.000,1030,0.000,0.023,3178,1842,1753,1810,1697,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2371,0.91,146.6,3178,1844,1810,1697,125.8,10.5,440,2379,0.00,2.08,0.00,0.000,260,0.000,0.036,3178,3186,1753,1810,1697,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2415,0.91,146.6,3178,3185,1810,1697,120.9,11.3,448,2422,0.00,2.12,0.00,0.000,1030,0.000,0.028,3179,1799,1753,1810,1697,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2546,0.91,146.6,3179,1799,1810,1696,107.3,9.4,473,2553,0.00,2.12,0.00,0.000,516,0.000,0.043,3183,409,1753,1810,1696,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2621,0.91,146.6,3183,409,1809,1695,99.7,10.9,487,2627,0.00,2.08,0.00,0.000,1030,0.000,0.024,3183,1821,1752,1809,1695,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2751,0.91,146.6,3183,1822,1809,1695,86.9,9.7,512,2759,0.00,2.22,0.00,0.000,516,0.000,0.042,3187,408,1752,1809,1695,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2791,0.91,146.6,3187,408,1809,1695,82.6,10.6,519,2798,0.00,2.05,0.00,0.000,1030,0.000,0.024,3187,1809,1752,1809,1695,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2920,0.91,146.6,3187,1811,1809,1695,67.8,11.8,544,2927,0.00,2.20,0.00,0.000,516,0.000,0.042,3187,410,1752,1809,1695,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2960,0.91,146.6,3187,410,1809,1695,63.0,12.3,551,2967,0.00,2.05,0.00,0.000,1030,0.000,0.024,3188,1808,1752,1809,1695,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3091,0.91,146.6,3187,1810,1809,1695,46.2,12.0,576,3098,0.00,2.12,0.00,0.000,260,0.000,0.037,3188,3198,1752,1809,1695,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3365,0.91,146.6,2080,3197,1764,1689,12.4,9.8,630,3372,0.00,2.10,0.00,0.000,1030,0.000,0.028,3190,1806,1752,1810,1694,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3434,0.93,159.0,2112,1804,1765,1689,6.7,7.5,643,3449,0.00,2.20,4.22,0.524,8708,0.000,0.044,3191,413,1706,1763,1649,0,0,0,0,0,0,28.83,26.51,25.85
$STATE,3494,end climb,SURFACE_DEPTH_REACHED
$STATE,3494,begin surface coast
$FINISH,0.3,1.021718
$STATE,3517,end surface coast,CONTROL_FINISHED_OK
$STATE,3517,begin surface
$SM_CCo,3533,29.48,0.678,0,0,1404,235.12
$SM_GC,2.47,7.95,2.58,29.48,0.046,0.024,0.678,195,2080,1404,-8.31,-1.70,235.12,0,0,0,0,0,0,26.54,26.58,25.44
$IRIDIUM_FIX,4726.11,-12222.38,290308,191915
$TT8_MAMPS,0.030709,0.030709
$HUMID,47.83
$INTERNAL_PRESSURE,9.03986
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,23.9,3.444
$10V_AH,10.4,7.471
$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,19.400,64.775,216.225,29.475,0.000,28.367,41.305,182.643,0.000,0.000,7.917,1471.176,458.056,344.129,1590.990,49.265,33.216,923.203,0.000,1317.873,0.000,0.547,0.000
$DEVICE_MAMPS,234.855,53.550,1209.465,677.790,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,440.668,903.947,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322608
$DATA_FILE_SIZE,33526,658
$CAP_FILE_SIZE,72310,0
$CFSIZE,1024393216,1018576896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,073128,4743.358,-12225.087,2,1.0,3,16.3