version: 66.11
glider: 206
mission: 1
dive: 16
start: 6 3 115 2 49 8
data:
$ID,206
$MISSION,1
$DIVE,16
$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,-1183.2709
$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,49
$R_STBD_OVSHOOT,63
$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
$GPS1,030615,094153,4742.602,-12225.167,2,1.4,2,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-65.8
$GPS2,030615,094855,4742.566,-12225.247,4,0.9,4,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.131,0.202
$KALMAN_X,-731.5,571.5,286.4,-430.4,-821.4
$KALMAN_Y,-8545.6,901.2,501.1,6308.7,-1009.0
$MHEAD_RNG_PITCHd_Wd,16.7,610,-14.0,-8.000,-18.40,2768
$D_GRID,184
$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,-0.91,-146.6,193,2089,1405,1378,0.0,0.0,0,62,0.00,0.00,-44.78,0.000,16386,0.000,0.000,193,2089,2734,2784,2684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.91,-146.6,193,2089,2783,2685,3.4,-7.2,7,86,9.45,2.17,-4.22,0.000,18692,0.234,0.054,2570,3479,2925,3001,2850,0,0,0,0,0,0,25.94,26.15,26.43
$GC,229,-0.91,-146.6,1536,3478,2961,2845,23.2,-12.2,38,236,0.00,2.10,0.00,0.000,1030,0.000,0.026,2570,2086,2927,3002,2852,0,0,0,0,0,0,28.83,26.34,28.83
$GC,298,-0.91,-146.6,1536,2084,2962,2846,31.9,-11.8,51,305,0.00,2.10,0.00,0.000,516,0.000,0.036,2570,711,2927,3002,2852,0,0,0,0,0,0,28.83,26.34,28.83
$GC,422,-0.91,-146.6,1504,711,2962,2846,45.5,-10.0,75,429,0.00,2.08,0.00,0.000,1030,0.000,0.024,2564,2078,2927,3002,2852,0,0,0,0,0,0,28.83,26.44,28.83
$GC,490,-0.91,-146.6,2563,2079,3003,2852,52.6,-10.7,88,498,0.00,2.20,0.00,0.000,260,0.000,0.043,2553,3492,2927,3003,2852,0,0,0,0,0,0,28.83,26.42,28.83
$GC,574,-0.91,-146.6,2553,3492,3003,2852,61.7,-10.4,104,582,0.00,2.10,0.00,0.000,1030,0.000,0.026,2553,2087,2927,3003,2852,0,0,0,0,0,0,28.83,26.51,28.83
$GC,706,-0.91,-146.6,2553,2087,3003,2852,76.9,-13.2,129,712,0.12,0.00,0.00,0.000,2054,0.178,0.000,2588,2086,2927,3003,2852,0,0,0,0,0,0,26.39,28.83,28.83
$GC,834,-0.91,-146.6,2588,2086,3004,2852,91.6,-10.9,154,841,0.00,2.20,0.00,0.000,260,0.000,0.042,2580,3492,2928,3004,2852,0,0,0,0,0,0,28.83,26.53,28.83
$GC,996,-0.91,-146.6,2580,3492,3004,2852,108.8,-10.1,185,1002,0.00,2.03,0.00,0.000,1030,0.000,0.026,2580,2097,2928,3004,2852,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1125,-0.91,-146.6,2580,2097,3004,2852,121.8,-10.2,210,1132,0.00,2.20,0.00,0.000,260,0.000,0.044,2576,3502,2928,3004,2852,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1158,-0.91,-146.6,2576,3502,3004,2852,125.1,-10.2,216,1165,0.00,2.08,0.00,0.000,1030,0.000,0.026,2576,2105,2928,3004,2852,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1290,-0.91,-146.6,2576,2103,3004,2852,137.6,-10.5,241,1297,0.00,2.12,0.00,0.000,260,0.000,0.042,2567,3497,2928,3004,2852,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1339,-0.91,-146.6,2567,3496,3004,2853,142.5,-9.8,250,1347,0.00,2.08,0.00,0.000,1030,0.000,0.026,2567,2097,2928,3004,2853,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1471,-0.91,-146.6,2567,2096,3004,2852,155.2,-10.6,275,1478,0.00,2.05,0.00,0.000,516,0.000,0.035,2567,705,2928,3004,2853,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1535,-0.91,-146.6,2567,705,3004,2853,162.4,-11.3,287,1542,0.00,2.05,0.00,0.000,1030,0.000,0.024,2559,2100,2928,3004,2853,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1664,-0.91,-146.6,2559,2100,3004,2853,175.6,-9.7,312,1671,0.00,2.15,0.00,0.000,260,0.000,0.044,2553,3493,2929,3005,2853,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,1713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1713,begin apogee
$GC,1719,-0.26,0.0,2553,1815,3004,2853,180.3,-9.5,321,1830,0.73,0.00,103.45,1.217,10246,0.133,0.000,2789,1815,2343,2404,2282,0,0,0,0,0,0,26.55,28.83,24.01
$STATE,1831,end apogee,CONTROL_FINISHED_OK
$STATE,1831,begin climb
$GC,1832,0.91,146.6,2789,1815,2404,2283,184.1,0.0,340,1949,1.15,0.00,108.53,1.197,10502,0.090,0.000,3169,1815,1758,1812,1704,0,0,0,0,0,0,25.01,28.83,23.87
$GC,2072,0.91,146.6,3169,1815,1811,1698,162.0,12.4,384,2079,0.00,2.22,0.00,0.000,260,0.000,0.037,3169,3206,1754,1811,1698,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2196,0.91,146.6,3169,3206,1811,1697,144.7,14.7,408,2203,0.00,2.15,0.00,0.000,1030,0.000,0.027,3171,1811,1753,1811,1696,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2327,0.91,146.6,3171,1811,1811,1694,127.5,12.9,433,2334,0.00,2.15,0.00,0.000,516,0.000,0.042,3174,414,1753,1812,1694,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2391,0.91,146.6,3173,415,1810,1694,119.3,13.6,445,2398,0.00,2.10,0.00,0.000,1030,0.000,0.024,3174,1822,1751,1810,1693,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2521,0.91,146.6,3174,1825,1810,1694,102.5,12.4,470,2528,0.00,2.22,0.00,0.000,516,0.000,0.041,3179,414,1751,1809,1694,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2572,0.91,146.6,3179,414,1809,1694,96.2,12.3,479,2579,0.00,2.08,0.00,0.000,1030,0.000,0.024,3179,1822,1751,1809,1693,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2701,0.91,146.6,3179,1825,1809,1694,80.4,12.5,504,2708,0.00,2.10,0.00,0.000,260,0.000,0.038,3179,3187,1751,1809,1694,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2785,0.91,146.6,3179,3187,1809,1694,70.2,12.3,520,2792,0.00,2.10,0.00,0.000,1030,0.000,0.028,3179,1808,1751,1809,1694,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2916,0.91,146.6,3179,1808,1810,1693,55.3,12.0,545,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1808,1751,1809,1694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3044,0.91,146.6,2096,1806,1765,1689,42.0,10.6,570,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1808,1751,1809,1693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3112,0.91,146.6,2112,1805,1765,1689,34.9,10.0,583,3120,0.00,2.17,0.00,0.000,516,0.000,0.043,3179,402,1751,1809,1693,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3223,0.91,146.6,2080,401,1764,1688,22.9,11.2,604,3230,0.00,2.10,0.00,0.000,1030,0.000,0.024,3179,1816,1750,1808,1693,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3292,0.91,146.6,2128,1816,1766,1688,15.9,10.3,617,3299,0.00,2.20,0.00,0.000,516,0.000,0.042,3179,410,1750,1808,1693,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3346,0.91,146.6,2112,410,1765,1688,10.3,10.4,627,3353,0.00,2.08,0.00,0.000,1030,0.000,0.024,3179,1803,1750,1808,1693,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3415,0.91,146.6,2112,1804,1765,1688,3.8,8.0,640,3422,0.00,2.12,0.00,0.000,260,0.000,0.037,3179,3197,1750,1808,1693,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,3438,end climb,SURFACE_DEPTH_REACHED
$STATE,3438,begin surface coast
$FINISH,0.2,1.011931
$STATE,3466,end surface coast,CONTROL_FINISHED_OK
$STATE,3466,begin surface
$SM_CCo,3481,33.78,0.687,0,0,1403,235.12
$SM_GC,2.20,7.90,1.67,33.78,0.044,0.028,0.687,187,2096,1403,-8.34,1.24,235.12,0,0,0,0,0,0,26.57,26.62,25.42
$IRIDIUM_FIX,4722.92,-12241.04,290308,232327
$TT8_MAMPS,0.030709,0.030709
$HUMID,47.55
$INTERNAL_PRESSURE,9.03986
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,23.9,3.725
$10V_AH,10.4,7.629
$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,19.350,63.725,211.975,33.775,0.000,33.569,47.136,267.798,0.000,0.000,7.919,1451.791,457.343,341.233,1655.005,48.397,33.209,915.732,0.000,1293.818,0.000,0.546,0.000
$DEVICE_MAMPS,234.090,54.315,1217.115,686.970,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,434.609,886.690,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322660
$DATA_FILE_SIZE,33435,649
$CAP_FILE_SIZE,70889,0
$CFSIZE,1024393216,1018380288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,104906,4742.639,-12225.129,3,1.2,3,16.3