version: 66.11
glider: 201
mission: 1
dive: 20
start: 8 8 113 12 35 11
data:
$ID,201
$MISSION,1
$DIVE,20
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,1
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51667
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038379999
$HD_B,0.01025
$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,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,5
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-491.48389
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3915
$C_PITCH,2983
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3101
$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
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,-68.747383
$PRESSURE_SLOPE,0.000115772
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,-1.28
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043948898
$SEABIRD_T_H,0.000640176
$SEABIRD_T_I,2.7039805e-05
$SEABIRD_T_J,3.3535807e-06
$SEABIRD_C_G,-9.7607336
$SEABIRD_C_H,1.1271561
$SEABIRD_C_I,-0.0014806761
$SEABIRD_C_J,0.00019408599
$GPS1,080813,123103,4742.731,-12225.177,24,1.2,24,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-66.4
$GPS2,080813,123415,4742.728,-12225.188,6,1.2,6,16.3
$SPEED_LIMITS,0.139,0.200
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.107,0.169
$KALMAN_X,-1924.9,570.2,143.5,762.1,-689.0
$KALMAN_Y,-5253.1,1038.0,-731.1,4903.9,-740.0
$MHEAD_RNG_PITCHd_Wd,15.9,486,-18.7,-8.000,-21.79,1862
$D_GRID,186
$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,16,-1.08,-97.8,187,2001,1881,1888,0.0,0.0,0,53,0.00,0.00,-34.85,0.000,16386,0.000,0.000,187,2002,2786,2803,2770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-1.08,-97.8,187,2002,2803,2769,2.2,-4.4,6,96,8.98,2.15,-23.95,0.000,18692,0.219,0.067,2626,3398,3501,3536,3467,0,0,0,0,0,0,26.44,26.63,26.94
$GC,323,-1.08,-97.8,2625,3398,3536,3468,38.6,-15.8,58,329,0.00,2.05,0.00,0.000,1030,0.000,0.033,2625,1995,3502,3536,3468,0,0,0,0,0,0,28.83,26.79,28.83
$GC,391,-1.08,-97.8,2625,1995,3536,3468,48.0,-11.6,71,397,0.00,2.15,0.00,0.000,260,0.000,0.047,2615,3402,3501,3536,3467,0,0,0,0,0,0,28.83,26.77,28.83
$GC,623,-1.08,-97.8,1632,3401,3529,3466,79.7,-13.8,117,630,0.00,2.03,0.00,0.000,1030,0.000,0.033,2615,2014,3502,3536,3468,0,0,0,0,0,0,28.83,26.89,28.83
$GC,752,-1.08,-97.8,2615,2014,3536,3468,96.6,-12.9,142,759,0.00,2.12,0.00,0.000,260,0.000,0.048,2604,3403,3502,3536,3468,0,0,0,0,0,0,28.83,26.86,28.83
$GC,986,-1.08,-97.8,2604,3402,3536,3468,126.9,-11.2,188,994,0.12,1.98,0.00,0.000,3078,0.160,0.033,2637,2031,3502,3536,3468,0,0,0,0,0,0,26.82,26.97,28.83
$GC,1116,-1.08,-97.8,2637,2027,3536,3468,140.3,-10.2,213,1123,0.00,2.08,0.00,0.000,260,0.000,0.049,2630,3400,3502,3536,3468,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1174,-1.08,-97.8,2629,3401,3536,3468,146.3,-9.8,224,1181,0.00,2.03,0.00,0.000,1030,0.000,0.033,2630,2009,3502,3536,3468,0,0,0,0,0,0,28.83,26.99,28.83
$GC,1303,-1.08,-97.8,2630,2005,3536,3468,159.1,-7.6,249,1310,0.00,2.05,0.00,0.000,516,0.000,0.044,2630,611,3502,3536,3468,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1371,-1.08,-97.8,2630,612,3536,3468,166.9,-13.0,262,1378,0.00,2.03,0.00,0.000,1030,0.000,0.032,2620,1998,3502,3536,3468,0,0,0,0,0,0,28.83,27.01,28.83
$STATE,1478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1478,begin apogee
$GC,1481,-0.26,0.0,2619,1998,3536,3468,180.6,-12.6,283,1565,0.80,0.00,73.95,1.037,10244,0.122,0.000,2892,1999,3103,3154,3052,0,0,0,0,1,0,26.89,28.83,24.79
$STATE,1566,end apogee,CONTROL_FINISHED_OK
$STATE,1567,begin climb
$GC,1568,1.08,97.8,2892,1999,3159,3058,184.7,0.0,298,1653,1.27,2.20,74.97,0.478,10756,0.084,0.044,3332,609,2693,2727,2660,0,0,0,0,0,0,25.60,25.63,25.16
$GC,1685,1.08,97.8,3332,609,2722,2656,177.9,10.2,319,1691,0.00,2.12,0.00,0.000,1030,0.000,0.031,3332,2010,2689,2722,2656,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1815,1.08,98.1,3332,2010,2722,2655,165.4,8.0,344,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2010,2688,2722,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1942,1.08,98.1,3331,2010,2722,2655,152.5,12.2,369,1949,0.00,2.15,0.00,0.000,516,0.000,0.044,3341,606,2688,2722,2655,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2175,1.08,98.1,3341,606,2722,2655,127.5,10.0,415,2182,0.00,2.08,0.00,0.000,1030,0.000,0.032,3342,2011,2688,2722,2655,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2304,1.08,98.1,3342,2010,2722,2655,113.7,10.2,440,2311,0.00,2.12,0.00,0.000,260,0.000,0.047,3342,3405,2688,2721,2655,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2357,1.08,98.1,3342,3405,2722,2655,107.7,10.6,450,2364,0.00,2.05,0.00,0.000,1030,0.000,0.033,3352,2008,2688,2722,2655,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2486,1.08,98.1,3353,2008,2722,2654,94.4,10.8,475,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2008,2688,2722,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2613,1.08,98.1,3353,2008,2722,2654,81.2,10.4,500,2620,0.00,2.10,0.00,0.000,516,0.000,0.044,3363,597,2688,2722,2654,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2636,1.08,98.1,3362,597,2722,2654,78.5,11.7,504,2644,0.12,2.10,0.00,0.000,5126,0.178,0.032,3332,2027,2688,2722,2654,0,0,0,0,0,0,26.70,26.85,28.83
$GC,2767,1.10,115.6,3331,2027,2722,2654,66.7,7.0,529,2785,0.00,2.15,12.62,0.444,8452,0.000,0.048,3332,3395,2620,2659,2582,0,0,0,0,0,0,28.83,26.72,26.34
$GC,2817,1.10,115.6,3332,3395,2658,2576,62.6,8.4,538,2824,0.00,2.03,0.00,0.000,1030,0.000,0.033,3340,2015,2617,2658,2576,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2947,1.12,129.6,3339,2015,2658,2577,53.1,7.2,563,2965,0.00,2.15,9.70,0.440,8708,0.000,0.045,3349,611,2563,2602,2524,0,0,0,0,0,0,28.83,26.72,26.32
$GC,3062,1.12,129.6,2400,611,2554,2516,44.1,9.1,585,3069,0.00,2.05,0.00,0.000,1030,0.000,0.032,3349,2010,2561,2599,2523,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3191,1.12,129.6,3349,2010,2599,2523,32.1,9.6,610,3197,0.00,2.10,0.00,0.000,260,0.000,0.048,3349,3392,2561,2599,2523,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3269,1.12,129.6,3349,3392,2599,2523,24.4,9.5,625,3275,0.00,2.00,0.00,0.000,1030,0.000,0.033,3359,2027,2561,2599,2523,0,0,0,0,0,0,28.83,26.87,28.83
$GC,3337,1.12,134.5,3358,2027,2599,2522,19.0,7.7,638,3344,0.00,0.00,0.82,0.227,8198,0.000,0.000,3359,2027,2553,2596,2510,0,0,0,0,0,0,28.83,28.83,26.72
$GC,3405,1.12,134.5,3358,2027,2604,2518,12.5,9.1,651,3412,0.00,2.10,0.00,0.000,516,0.000,0.044,3367,609,2560,2604,2517,0,0,0,0,0,0,28.83,26.86,28.83
$STATE,3517,end climb,SURFACE_DEPTH_REACHED
$STATE,3517,begin surface coast
$FINISH,0.4,1.021176
$STATE,3548,end surface coast,CONTROL_FINISHED_OK
$STATE,3549,begin surface
$SM_CCo,3565,60.08,0.136,0,0,1875,300.00
$SM_GC,2.19,8.18,2.10,60.08,0.047,0.031,0.136,189,2010,1875,-8.65,-1.16,300.00,0,0,0,0,0,0,26.91,26.93,26.60
$IRIDIUM_FIX,4722.92,-12223.37,080813,111147
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.39
$INTERNAL_PRESSURE,8.84734
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,24.8,0.955
$10V_AH,10.6,0.777
$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,19.475,54.250,172.075,60.075,0.000,25.712,29.807,73.793,0.000,0.000,6.839,1510.483,799.012,359.534,1113.345,51.181,33.195,899.313,0.000,975.255,0.000,0.544,0.000
$DEVICE_MAMPS,218.790,66.555,1037.340,136.170,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,453.906,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323188
$DATA_FILE_SIZE,20091,679
$CAP_FILE_SIZE,68768,0
$CFSIZE,260034560,256061440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,080813,133613,4742.727,-12224.960,3,1.3,3,16.3