version: 66.12
glider: 203
mission: 6
dive: 232
start: 1 26 115 10 6 8
data:
$ID,203
$MISSION,6
$DIVE,232
$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,98
$R_STBD_OVSHOOT,46
$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
$GPS1,260115,095852,2110.0437,-15808.8750,40,1.0,40,9.6,1.0,139.2,7,8.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-61.7
$GPS2,260115,100553,2109.9863,-15808.8145,17,0.9,17,9.6,0.0,172.2,8,5.9
$SPEED_LIMITS,0.100,0.272
$TGT_NAME,RECOVERY
$TGT_LATLONG,2109.516,-15808.905
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,187.3,885,-36.4,-10.000,-37.39,581
$D_GRID,1505
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-1.46,-37.8,189,2793,1015,914,0.0,0.0,0,55,0.00,0.00,-40.88,0.000,16386,0.000,0.000,188,2794,2153,2181,2126,0,0,0,0,0,0,26.87,28.83,26.94
$GC,57,-1.51,-74.1,189,2795,2182,2129,3.0,-3.6,6,92,8.15,1.50,-19.42,0.000,18948,0.213,0.044,2312,1765,2912,2976,2848,0,0,0,0,0,0,25.89,24.58,26.24
$GC,316,-1.51,-74.1,2312,1766,2978,2850,76.3,-33.3,49,325,0.00,1.55,0.00,0.000,1030,0.000,0.033,2307,2790,2913,2977,2849,0,0,0,0,0,0,26.63,26.60,26.65
$GC,621,-1.51,-74.1,2307,2790,2978,2853,159.2,-22.6,80,625,0.00,1.45,0.00,0.000,516,0.000,0.021,2306,1770,2914,2977,2852,0,0,0,0,0,0,27.14,26.83,27.20
$GC,852,-1.51,-74.1,2306,1770,2980,2854,210.3,-21.8,103,855,0.00,1.55,0.00,0.000,1030,0.000,0.032,2299,2806,2916,2978,2854,0,0,0,0,0,0,26.74,26.72,26.77
$GC,1182,-1.51,-74.1,2300,2806,2981,2857,280.7,-19.5,126,1185,0.00,1.60,0.00,0.000,260,0.000,0.043,2291,3854,2918,2980,2856,0,0,0,0,0,0,27.22,26.62,27.28
$GC,1411,-1.51,-74.1,2292,3855,2981,2858,320.0,-18.6,133,1415,0.05,1.48,0.00,0.000,3078,0.171,0.023,2306,2830,2918,2980,2856,0,0,0,0,0,0,26.61,26.91,26.63
$GC,1722,-1.51,-74.1,2306,2832,2981,2857,376.0,-16.2,144,1725,0.00,1.58,0.00,0.000,260,0.000,0.045,2301,3851,2917,2979,2856,0,0,0,0,0,0,27.24,26.60,27.30
$GC,1741,-1.51,-74.1,2300,3851,2980,2856,376.0,-16.2,144,1746,0.00,1.50,0.00,0.000,1030,0.000,0.024,2301,2810,2918,2980,2856,0,0,0,0,0,0,26.93,26.91,26.94
$GC,2051,-1.51,-74.1,2301,2812,2977,2858,435.4,-18.4,155,2055,0.00,1.62,0.00,0.000,260,0.000,0.044,2293,3854,2916,2976,2856,0,0,0,0,0,0,27.24,26.60,27.31
$GC,2216,-1.51,-74.1,2294,3856,2975,2858,465.2,-20.1,160,2222,0.05,1.50,0.00,0.000,3078,0.173,0.024,2307,2807,2915,2975,2856,0,0,0,0,0,0,26.58,26.91,26.60
$GC,2533,-1.51,-74.1,2307,2808,2971,2857,522.3,-16.8,171,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2807,2913,2970,2856,0,0,0,0,0,0,27.24,27.32,27.32
$STATE,2650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2650,begin apogee
$GC,2654,-0.19,0.0,2308,2952,2969,2856,541.7,-16.2,175,2716,1.40,0.00,59.20,0.786,10244,0.140,0.000,2735,2953,2606,2656,2557,0,0,0,0,0,0,25.70,25.98,25.29
$STATE,2717,end apogee,CONTROL_FINISHED_OK
$STATE,2717,begin climb
$GC,2718,1.51,74.1,2735,2952,2652,2552,544.3,0.0,177,2781,1.45,1.58,57.50,0.770,10756,0.063,0.023,3289,1887,2304,2348,2260,0,0,0,0,0,0,26.09,26.22,25.00
$GC,2892,1.54,95.9,3289,1887,2338,2248,536.1,6.1,183,2912,0.00,1.65,16.95,0.796,9222,0.000,0.032,3289,2955,2215,2259,2171,0,0,0,0,0,0,26.31,26.29,25.26
$GC,3217,1.54,95.9,3289,2956,2251,2162,502.9,10.5,194,3222,0.00,1.38,0.00,0.000,260,0.000,0.042,3289,3856,2204,2248,2161,0,0,0,0,0,0,26.93,26.50,26.99
$GC,3446,1.54,95.9,3289,3855,2246,2159,480.1,10.4,201,3450,0.00,1.30,0.00,0.000,1030,0.000,0.024,3296,2954,2202,2245,2159,0,0,0,0,0,0,26.80,26.77,26.82
$GC,3757,1.57,95.9,3296,2954,2244,2157,449.8,8.5,212,3760,0.00,1.40,0.00,0.000,260,0.000,0.044,3296,3847,2199,2242,2157,0,0,0,0,0,0,27.13,26.58,27.20
$GC,3986,1.59,95.9,3296,3849,2242,2158,430.7,9.2,219,3992,0.00,1.27,0.00,0.000,1030,0.000,0.024,3302,2961,2198,2241,2156,0,0,0,0,0,0,26.89,26.85,26.91
$GC,4297,1.62,95.9,3303,2961,2239,2153,403.3,8.3,230,4302,0.05,1.40,0.00,0.000,2308,0.171,0.044,3333,3859,2195,2237,2154,0,0,0,0,0,0,27.05,26.58,27.06
$GC,4526,1.66,95.9,3333,3860,2237,2155,385.6,8.3,237,4530,0.00,1.30,0.00,0.000,1030,0.000,0.024,3340,2946,2194,2236,2153,0,0,0,0,0,0,26.89,26.87,26.91
$GC,4837,1.68,109.6,3339,2946,2233,2152,360.1,7.6,248,4852,0.00,1.45,9.02,0.774,8452,0.000,0.044,3340,3860,2154,2195,2114,0,0,0,0,0,0,27.22,26.60,25.81
$GC,5077,1.68,109.6,3340,3861,2193,2112,337.0,9.7,256,5080,0.00,1.25,0.00,0.000,1030,0.000,0.025,3346,2999,2151,2192,2110,0,0,0,0,0,0,26.85,26.82,26.88
$GC,5408,1.71,133.3,3346,2998,2191,2109,314.9,5.8,267,5431,0.00,1.35,19.10,0.705,8452,0.000,0.044,3346,3853,2057,2097,2017,0,0,0,0,0,0,27.18,26.48,25.79
$GC,5656,1.71,133.3,3346,3854,2092,2012,293.1,9.6,275,5662,0.00,1.25,0.00,0.000,1030,0.000,0.024,3352,2994,2050,2090,2011,0,0,0,0,0,0,26.77,26.73,26.79
$GC,5978,1.73,146.8,3353,2995,2091,2011,261.7,7.6,286,5993,0.00,1.30,10.85,0.706,8452,0.000,0.040,3353,3855,2003,2043,1963,0,0,0,0,0,0,27.13,26.25,25.80
$GC,6217,1.73,146.8,3353,3855,2040,1958,236.8,10.0,302,6221,0.00,1.27,0.00,0.000,1030,0.000,0.024,3359,2972,1998,2039,1958,0,0,0,0,0,0,26.80,26.76,26.81
$GC,6527,1.73,146.8,3359,2972,2040,1956,207.9,10.7,333,6530,0.00,1.35,0.00,0.000,260,0.000,0.042,3359,3850,1997,2038,1957,0,0,0,0,0,0,27.14,26.55,27.20
$GC,6757,1.73,146.8,3359,3851,2039,1959,181.9,11.2,356,6762,0.00,1.20,0.00,0.000,1030,0.000,0.024,3365,3003,1997,2038,1957,0,0,0,0,0,0,26.87,26.84,26.88
$GC,7067,1.77,171.4,3365,3003,2039,1957,157.5,5.6,387,7089,0.00,1.35,19.52,0.591,8452,0.000,0.042,3365,3860,1902,1943,1862,0,0,0,0,0,0,27.20,26.52,25.89
$GC,7314,1.81,171.4,3365,3861,1938,1857,137.7,8.2,411,7320,0.00,1.23,0.00,0.000,1030,0.000,0.024,3372,2993,1897,1938,1856,0,0,0,0,0,0,26.79,26.76,26.80
$GC,7619,1.83,171.4,3372,2994,1939,1857,112.0,8.6,442,7624,0.00,1.52,0.00,0.000,516,0.000,0.020,3380,1897,1896,1937,1856,0,0,0,0,0,0,27.15,26.83,27.20
$GC,7849,1.88,200.0,3380,1898,1938,1857,96.7,5.0,465,7873,0.05,1.67,20.45,0.506,11270,0.074,0.031,3421,3013,1788,1830,1746,0,0,0,0,0,0,26.55,26.68,25.94
$GC,8180,1.90,200.0,3421,3013,1824,1738,66.3,8.6,498,8183,0.00,1.58,0.00,0.000,516,0.000,0.020,3429,1894,1780,1822,1738,0,0,0,0,0,0,27.10,26.81,27.16
$GC,8324,1.90,200.0,3430,1895,1823,1740,50.6,12.2,512,8330,0.00,1.70,0.00,0.000,1030,0.000,0.030,3429,3031,1780,1822,1738,0,0,0,0,0,0,26.70,26.66,26.73
$GC,8629,1.90,200.0,3429,3031,1823,1739,7.5,11.1,573,8637,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,3031,1780,1822,1739,0,0,0,0,0,0,27.18,27.25,27.24
$STATE,8674,end climb,SURFACE_DEPTH_REACHED
$STATE,8674,begin surface coast
$FINISH,1.3,1.023135
$STATE,8690,end surface coast,CONTROL_FINISHED_OK
$STATE,8690,begin surface
$SM_CCo,8704,77.15,0.125,0,0,974,400.08
$SM_GC,2.07,8.32,0.28,77.15,0.037,0.041,0.125,187,2787,974,-8.11,2.49,400.08,0,0,0,0,0,0,26.68,26.98,26.32
$IRIDIUM_FIX,2101.76,-15807.62,260115,100010
$TT8_MAMPS,0.057673,0.057673
$HUMID,42.28
$INTERNAL_PRESSURE,9.1928
$TCM_TEMP,25.30
$XPDR_PINGS,2
$24V_AH,24.58,71.246
$10V_AH,10.26,39.538
$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,19.525,46.575,212.600,77.150,0.000,0.000,0.000,283.775,0.500,0.000,18.211,0.000,6490.763,386.259,2200.846,119.405,0.000,1432.705,0.000,1507.691,0.000,0.554,0.000
$DEVICE_MAMPS,212.670,67.320,795.600,124.695,0.000,0.000,0.000,84.150,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,392.903,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270308
$DATA_FILE_SIZE,26758,585
$CAP_FILE_SIZE,135817,0
$CFSIZE,1024393216,995131392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$INTR,0,9859.05,0x236db2,7,5
$CURRENT,0.063,73.15,1
$GPS,260115,123330,2109.655,-15808.312,33,1.1,42,9.6,0.3,134.2,7,8.6