version: 66.11
glider: 206
mission: 1
dive: 20
start: 6 3 115 7 19 43
data:
$ID,206
$MISSION,1
$DIVE,20
$N_DIVES,0
$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,335
$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,-1324.689
$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,51
$R_STBD_OVSHOOT,67
$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
$GPS1,030615,141347,4743.175,-12224.902,6,1.2,6,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-66.4
$GPS2,030615,141930,4743.218,-12224.906,4,1.6,4,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.070,-0.230
$KALMAN_X,124.0,-51.9,-620.4,668.5,395.2
$KALMAN_Y,-7727.9,309.6,-717.8,8492.5,400.3
$MHEAD_RNG_PITCHd_Wd,180.6,968,-14.0,-8.000,-18.40,2768
$D_GRID,177
$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,14,-0.91,-146.6,190,2111,1393,1383,0.0,0.0,0,62,0.00,0.00,-45.28,0.000,16386,0.000,0.000,190,2111,2741,2791,2691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.91,-146.6,190,2111,2791,2692,3.3,-6.5,7,86,9.48,2.17,-4.12,0.000,18948,0.233,0.047,2577,691,2925,3001,2850,0,0,0,0,0,0,25.87,26.10,26.36
$GC,249,-0.91,-146.6,1536,691,2960,2845,27.6,-12.8,42,256,0.00,2.12,0.00,0.000,1030,0.000,0.024,2570,2078,2926,3001,2851,0,0,0,0,0,0,28.83,26.30,28.83
$GC,318,-0.91,-146.6,1536,2076,2961,2845,35.7,-11.5,55,325,0.00,2.22,0.00,0.000,260,0.000,0.043,2560,3498,2926,3002,2851,0,0,0,0,0,0,28.83,26.29,28.83
$GC,348,-0.91,-146.6,1536,3497,2964,2846,39.2,-11.6,60,356,0.00,2.12,0.00,0.000,1030,0.000,0.026,2560,2090,2927,3002,2852,0,0,0,0,0,0,28.83,26.36,28.83
$GC,417,-0.91,-146.6,1536,2088,2962,2846,47.5,-11.6,73,425,0.00,2.22,0.00,0.000,260,0.000,0.043,2551,3499,2927,3002,2852,0,0,0,0,0,0,28.83,26.34,28.83
$GC,504,-0.91,-146.6,2551,3499,3002,2852,57.4,-11.6,89,511,0.12,2.08,0.00,0.000,3078,0.171,0.025,2581,2081,2927,3002,2852,0,0,0,0,0,0,26.27,26.44,28.83
$GC,635,-0.91,-146.6,2581,2080,3002,2852,71.4,-9.8,114,643,0.00,2.08,0.00,0.000,516,0.000,0.036,2581,716,2927,3002,2852,0,0,0,0,0,0,28.83,26.45,28.83
$GC,685,-0.91,-146.6,2581,715,3002,2852,76.7,-10.2,123,692,0.00,2.08,0.00,0.000,1030,0.000,0.024,2575,2107,2927,3002,2852,0,0,0,0,0,0,28.83,26.50,28.83
$GC,815,-0.91,-146.6,2574,2107,3002,2852,88.7,-8.9,148,822,0.00,2.17,0.00,0.000,260,0.000,0.043,2566,3508,2927,3002,2852,0,0,0,0,0,0,28.83,26.48,28.83
$GC,885,-0.91,-146.6,2566,3508,3003,2852,95.6,-10.9,161,891,0.00,2.05,0.00,0.000,1030,0.000,0.025,2566,2104,2927,3002,2852,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1014,-0.91,-146.6,2566,2103,3002,2852,109.7,-12.2,186,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2103,2927,3002,2852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1146,-0.91,-146.6,2566,2102,3002,2852,124.6,-11.4,211,1152,0.00,2.15,0.00,0.000,260,0.000,0.042,2558,3508,2927,3002,2852,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1180,-0.91,-146.6,2558,3508,3002,2853,128.7,-10.9,217,1186,0.00,2.08,0.00,0.000,1030,0.000,0.026,2558,2085,2927,3003,2852,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1309,-0.91,-146.6,2559,2086,3002,2852,143.3,-10.5,242,1316,0.00,2.08,0.00,0.000,516,0.000,0.036,2558,711,2927,3002,2853,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1342,-0.91,-146.6,2558,711,3002,2852,147.1,-11.5,248,1350,0.08,2.10,0.00,0.000,3078,0.149,0.024,2576,2100,2927,3002,2852,0,0,0,0,0,0,26.48,26.65,28.83
$GC,1474,-0.91,-146.6,2575,2100,3003,2853,160.2,-10.5,273,1480,0.00,2.12,0.00,0.000,260,0.000,0.043,2568,3504,2927,3003,2852,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1549,-0.91,-146.6,2568,3504,3002,2852,168.6,-12.1,287,1555,0.00,2.05,0.00,0.000,1030,0.000,0.026,2568,2093,2927,3002,2852,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,1626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1626,begin apogee
$GC,1629,-0.26,0.0,2568,1791,3003,2853,177.3,-10.9,302,1741,0.68,0.00,103.25,1.202,10246,0.132,0.000,2787,1791,2343,2404,2282,0,0,0,0,0,0,26.52,28.83,24.01
$STATE,1742,end apogee,CONTROL_FINISHED_OK
$STATE,1742,begin climb
$GC,1743,0.91,146.6,2787,1791,2404,2283,180.8,0.0,321,1862,1.15,2.38,108.57,1.191,10500,0.093,0.034,3166,3221,1757,1808,1706,0,0,0,0,0,0,25.01,24.77,23.88
$GC,1868,0.91,146.6,3166,3221,1808,1705,171.6,10.2,342,1875,0.00,2.25,0.00,0.000,1030,0.000,0.028,3171,1825,1756,1808,1704,0,0,0,0,0,0,28.83,25.05,28.83
$GC,1999,0.91,146.6,3171,1825,1807,1698,156.2,11.4,367,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1825,1752,1807,1698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2127,0.91,146.6,3171,1825,1807,1697,142.0,10.8,392,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1825,1751,1807,1696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2258,0.91,146.6,3171,1825,1807,1694,127.1,11.6,417,2264,0.00,2.17,0.00,0.000,516,0.000,0.041,3177,409,1751,1808,1694,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2322,0.91,146.6,3177,409,1805,1694,119.3,12.2,429,2329,0.00,2.12,0.00,0.000,1030,0.000,0.023,3177,1845,1750,1806,1694,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2451,0.91,146.6,3178,1847,1806,1694,104.7,10.7,454,2459,0.00,2.08,0.00,0.000,260,0.000,0.037,3177,3187,1749,1805,1694,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2505,0.91,146.6,3177,3187,1806,1694,98.5,12.0,464,2512,0.00,2.10,0.00,0.000,1030,0.000,0.028,3178,1809,1749,1805,1694,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2637,0.91,146.6,3178,1809,1805,1693,83.4,10.8,489,2643,0.00,2.15,0.00,0.000,516,0.000,0.042,3182,404,1749,1805,1693,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2704,0.91,146.6,3182,404,1805,1693,75.3,11.6,502,2712,0.00,2.10,0.00,0.000,1030,0.000,0.024,3182,1808,1749,1804,1694,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2835,0.91,146.6,3182,1810,1805,1693,60.1,11.1,527,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1809,1749,1805,1693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2964,0.91,146.6,2112,1809,1761,1688,45.1,10.5,552,2971,0.00,2.12,0.00,0.000,260,0.000,0.037,3182,3191,1749,1805,1693,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3125,0.91,146.6,2080,3190,1758,1688,25.6,11.8,583,3132,0.00,2.10,0.00,0.000,1030,0.000,0.028,3186,1803,1748,1804,1693,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3194,0.91,146.6,2128,1801,1762,1688,17.3,12.0,596,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1803,1749,1805,1693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3264,0.91,146.6,2112,1801,1760,1688,9.9,10.0,609,3271,0.00,2.15,0.00,0.000,516,0.000,0.044,3189,416,1749,1805,1693,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3293,0.91,146.6,2176,416,1764,1688,6.6,10.6,614,3300,0.00,2.08,0.00,0.000,1030,0.000,0.024,3189,1812,1748,1805,1692,0,0,0,0,0,0,28.83,26.62,28.83
$STATE,3342,end climb,SURFACE_DEPTH_REACHED
$STATE,3342,begin surface coast
$FINISH,0.3,1.011592
$STATE,3364,end surface coast,CONTROL_FINISHED_OK
$STATE,3364,begin surface
$SM_CCo,3378,72.95,0.696,0,0,1005,335.10
$SM_GC,1.27,7.95,0.40,72.95,0.047,0.040,0.696,192,2110,1005,-8.32,-1.64,335.10,0,0,0,0,0,0,26.56,26.63,24.98
$IRIDIUM_FIX,4726.11,-12222.38,300308,030305
$TT8_MAMPS,0.030709,0.030709
$HUMID,46.37
$INTERNAL_PRESSURE,9.00079
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,23.9,4.071
$10V_AH,10.4,7.842
$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,19.450,60.500,211.825,72.950,0.000,26.834,45.200,190.940,0.000,0.000,7.908,1409.022,440.235,382.618,1531.974,48.543,33.206,945.189,0.000,1248.494,0.000,0.547,0.000
$DEVICE_MAMPS,233.325,46.665,1201.815,696.150,0.000,12.240,160.000,223.000,420.000,0.000,28.460,20.450,2.190,20.450,47.420,63.900,73.630,14.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,419.444,845.858,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322616
$DATA_FILE_SIZE,30178,627
$CAP_FILE_SIZE,70939,0
$CFSIZE,1024393216,1018134528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,151846,4743.095,-12224.959,11,0.8,11,16.3