version: 66.12
glider: 203
mission: 6
dive: 230
start: 1 26 115 4 47 28
data:
$ID,203
$MISSION,6
$DIVE,230
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,540
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,50
$T_BOOST,4
$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,180
$T_MISSION,220
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52103
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0065996498
$HD_B,0.0098683201
$HD_C,1.5339499e-05
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2815
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2608
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$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,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,22.5
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-63.024231
$PRESSURE_SLOPE,0.0001160131
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0093
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$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,0.0043923887
$SEABIRD_T_H,0.00063351821
$SEABIRD_T_I,2.5271875e-05
$SEABIRD_T_J,3.0515032e-06
$SEABIRD_C_G,-9.7838888
$SEABIRD_C_H,1.1409903
$SEABIRD_C_I,-0.00071586663
$SEABIRD_C_J,0.00012479167
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,260115,044151,2109.5862,-15808.0850,28,0.8,44,9.6,0.2,91.0,9,6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-59.8
$GPS2,260115,044715,2109.5586,-15808.0225,17,1.1,17,9.6,0.0,122.5,7,5.1
$SPEED_LIMITS,0.100,0.272
$TGT_NAME,RECOVERY
$TGT_LATLONG,2109.516,-15808.905
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,266.4,1526,-26.7,-10.000,-27.95,1113
$D_GRID,1446
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-1.13,-72.3,190,2806,1014,917,0.0,0.0,0,56,0.00,0.00,-41.40,0.000,16386,0.000,0.000,188,2807,2187,2212,2162,0,0,0,0,0,0,26.79,28.83,26.86
$GC,58,-1.22,-129.6,189,2807,2214,2162,3.4,-4.7,6,99,8.55,1.60,-24.48,0.000,18692,0.213,0.060,2396,3848,3139,3202,3077,0,0,0,0,0,0,25.79,24.46,26.14
$GC,323,-1.22,-129.6,2396,3847,3203,3079,75.6,-30.2,50,327,0.00,1.50,0.00,0.000,1030,0.000,0.022,2396,2795,3141,3203,3079,0,0,0,0,0,0,26.70,26.68,26.72
$GC,633,-1.22,-129.6,2397,2794,3205,3079,151.1,-22.7,81,637,0.00,1.62,0.00,0.000,260,0.000,0.042,2388,3846,3142,3204,3080,0,0,0,0,0,0,27.09,26.45,27.15
$GC,843,-1.22,-129.6,2388,3846,3205,3082,199.7,-22.1,102,847,0.03,1.48,0.00,0.000,3078,0.189,0.022,2396,2800,3143,3205,3082,0,0,0,0,0,0,26.62,26.82,26.62
$GC,1173,-1.22,-129.6,2395,2800,3207,3082,261.0,-17.9,131,1176,0.00,1.48,0.00,0.000,516,0.000,0.022,2396,1754,3144,3207,3082,0,0,0,0,0,0,27.17,26.82,27.24
$GC,1213,-1.22,-129.6,2396,1756,3208,3084,266.5,-18.0,132,1217,0.05,1.58,0.00,0.000,3078,0.161,0.032,2407,2803,3145,3208,3083,0,0,0,0,0,0,26.38,26.64,26.42
$GC,1534,-1.22,-129.6,2406,2803,3208,3083,320.7,-16.5,143,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2803,3145,3207,3083,0,0,0,0,0,0,27.20,27.28,27.27
$GC,1833,-1.22,-129.6,2407,2803,3207,3082,366.3,-15.0,153,1836,0.00,1.60,0.00,0.000,260,0.000,0.044,2402,3850,3144,3206,3083,0,0,0,0,0,0,27.21,26.51,27.28
$GC,2023,-1.22,-129.6,2402,3851,3205,3084,395.8,-16.6,159,2026,0.00,1.48,0.00,0.000,1030,0.000,0.024,2401,2815,3143,3204,3083,0,0,0,0,0,0,26.89,26.88,26.91
$GC,2344,-1.22,-129.6,2401,2814,3201,3082,447.0,-15.1,170,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2815,3141,3200,3083,0,0,0,0,0,0,27.23,27.30,27.29
$GC,2643,-1.22,-129.6,2401,2816,3195,3084,493.4,-15.7,180,2646,0.00,1.62,0.00,0.000,260,0.000,0.046,2394,3850,3138,3194,3083,0,0,0,0,0,0,27.23,26.48,27.29
$GC,2703,-1.22,-129.6,2394,3852,3194,3084,503.1,-16.0,182,2707,0.00,1.48,0.00,0.000,1030,0.000,0.024,2394,2827,3138,3194,3083,0,0,0,0,0,0,26.86,26.85,26.89
$STATE,2941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2941,begin apogee
$GC,2945,-0.19,0.0,2393,2959,3191,3084,543.0,-16.9,190,3049,1.10,0.00,100.85,0.784,10244,0.127,0.000,2735,2958,2607,2655,2560,0,0,0,0,0,0,25.66,25.62,24.94
$STATE,3049,end apogee,CONTROL_FINISHED_OK
$STATE,3049,begin climb
$GC,3051,1.22,129.6,2736,2958,2651,2554,547.4,0.0,193,3157,1.27,0.00,100.07,0.762,11270,0.071,0.000,3193,2958,2073,2118,2029,0,0,0,0,0,0,25.74,26.03,24.72
$GC,3453,1.22,129.6,3194,2959,2108,2018,512.3,11.7,207,3456,0.00,1.40,0.00,0.000,260,0.000,0.044,3193,3850,2062,2107,2018,0,0,0,0,0,0,26.79,26.34,26.86
$GC,3528,1.22,129.6,3194,3850,2108,2016,504.7,12.4,209,3531,0.00,1.30,0.00,0.000,1030,0.000,0.024,3201,2947,2061,2106,2016,0,0,0,0,0,0,26.61,26.60,26.63
$GC,3843,1.22,129.6,3201,2948,2104,2016,464.9,11.6,220,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2947,2059,2104,2015,0,0,0,0,0,0,27.01,27.09,27.08
$GC,4143,1.22,129.6,3202,2948,2101,2015,432.9,10.2,230,4146,0.00,1.42,0.00,0.000,260,0.000,0.044,3201,3852,2057,2100,2014,0,0,0,0,0,0,27.08,26.50,27.15
$GC,4343,1.22,129.6,3201,3854,2099,2014,414.3,10.3,236,4346,0.00,1.27,0.00,0.000,1030,0.000,0.025,3208,2961,2055,2099,2012,0,0,0,0,0,0,26.82,26.79,26.84
$GC,4653,1.26,129.6,3208,2962,2098,2012,387.1,8.1,247,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2961,2053,2097,2010,0,0,0,0,0,0,27.15,27.23,27.22
$GC,4953,1.28,129.6,3208,2961,2096,2009,361.0,9.0,257,4957,0.00,1.40,0.00,0.000,260,0.000,0.045,3208,3853,2051,2094,2009,0,0,0,0,0,0,27.18,26.51,27.24
$GC,5183,1.28,129.6,3208,3854,2095,2010,339.3,10.5,264,5186,0.00,1.27,0.00,0.000,1030,0.000,0.024,3215,2960,2051,2094,2009,0,0,0,0,0,0,26.85,26.83,26.86
$GC,5493,1.30,129.6,3216,2961,2093,2009,309.7,8.8,275,5496,0.00,1.40,0.00,0.000,260,0.000,0.044,3214,3850,2050,2093,2008,0,0,0,0,0,0,27.20,26.50,27.27
$GC,5704,1.34,157.7,3215,3850,2092,2007,293.4,7.4,282,5727,0.00,1.25,19.02,0.683,9222,0.000,0.025,3222,2973,1960,2002,1919,0,0,0,0,0,0,26.86,26.84,25.79
$GC,6033,1.37,157.7,3222,2973,1994,1908,262.6,8.6,293,6036,0.00,1.52,0.00,0.000,516,0.000,0.021,3230,1898,1951,1993,1909,0,0,0,0,0,0,27.07,26.73,27.13
$GC,6073,1.40,157.7,3230,1899,1993,1909,260.1,8.5,294,6077,0.03,1.65,0.00,0.000,3078,0.118,0.033,3260,2970,1950,1993,1908,0,0,0,0,0,0,26.44,26.55,26.46
$GC,6383,1.42,157.7,3260,2970,1992,1907,229.6,8.9,318,6384,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2970,1949,1992,1907,0,0,0,0,0,0,27.13,27.20,27.20
$GC,6683,1.42,157.7,3260,2970,1992,1907,200.1,10.2,348,6688,0.00,1.55,0.00,0.000,516,0.000,0.021,3268,1891,1948,1990,1906,0,0,0,0,0,0,27.17,26.80,27.24
$GC,6913,1.46,181.1,3268,1891,1991,1906,179.4,7.8,371,6935,0.00,1.65,18.35,0.610,9222,0.000,0.032,3269,2973,1865,1907,1824,0,0,0,0,0,0,26.64,26.62,25.86
$GC,7233,1.46,181.1,3268,2972,1898,1811,147.9,10.1,403,7238,0.00,1.55,0.00,0.000,516,0.000,0.021,3276,1891,1854,1897,1811,0,0,0,0,0,0,27.08,26.74,27.13
$GC,7319,1.48,181.1,3276,1891,1898,1811,140.3,9.1,411,7324,0.00,1.58,0.00,0.000,1030,0.000,0.032,3276,2936,1854,1897,1811,0,0,0,0,0,0,26.63,26.58,26.65
$GC,7623,1.50,181.1,3276,2937,1898,1813,113.6,9.0,442,7628,0.00,1.40,0.00,0.000,260,0.000,0.041,3275,3858,1854,1897,1811,0,0,0,0,0,0,27.14,26.51,27.20
$GC,7853,1.52,181.1,3276,3859,1898,1813,91.9,8.8,465,7856,0.00,1.30,0.00,0.000,1030,0.000,0.023,3283,2930,1854,1897,1812,0,0,0,0,0,0,26.86,26.84,26.87
$GC,8163,1.57,212.6,3283,2931,1898,1813,68.6,7.1,496,8194,0.05,1.45,23.20,0.473,10500,0.171,0.041,3323,3854,1730,1774,1687,0,0,0,0,0,0,27.05,26.53,25.96
$GC,8419,1.58,212.6,3322,3854,1770,1684,40.6,9.1,530,8425,0.00,1.27,0.00,0.000,1030,0.000,0.022,3329,2934,1727,1770,1684,0,0,0,0,0,0,26.80,26.78,26.82
$GC,8724,1.58,212.6,3330,2934,1772,1684,4.4,13.2,591,8731,0.00,1.40,0.00,0.000,260,0.000,0.038,3329,3852,1727,1770,1684,0,0,0,0,0,0,27.14,26.54,27.20
$STATE,8743,end climb,SURFACE_DEPTH_REACHED
$STATE,8744,begin surface coast
$FINISH,1.4,1.013170
$STATE,8754,end surface coast,CONTROL_FINISHED_OK
$STATE,8754,begin surface
$SM_CCo,8768,72.32,0.127,0,0,976,400.08
$SM_GC,2.02,8.02,1.50,72.32,0.033,0.021,0.127,196,2803,976,-8.09,2.57,400.08,0,0,0,0,0,0,26.61,26.83,26.27
$IRIDIUM_FIX,2059.45,-15807.62,250115,233453
$TT8_MAMPS,0.058422,0.058422
$HUMID,41.57
$INTERNAL_PRESSURE,9.1742
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.46,71.141
$10V_AH,10.25,39.441
$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,19.100,44.175,261.500,72.325,0.000,0.000,0.000,230.950,0.250,0.000,18.449,0.000,6688.104,413.687,1931.122,111.318,0.000,1327.659,0.000,1315.637,0.000,0.555,0.000
$DEVICE_MAMPS,213.435,70.380,784.125,126.990,0.000,0.000,0.000,90.270,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,400.761,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270292
$DATA_FILE_SIZE,26784,597
$CAP_FILE_SIZE,124427,0
$CFSIZE,1024393216,995311616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$INTR,0,18511.71,0x236db2,7,5
$CURRENT,0.040,132.18,1
$GPS,260115,071527,2109.536,-15808.788,16,0.8,19,9.6,0.7,106.3,9,8.7