version: 66.10
glider: 201
mission: 5
dive: 6
start: 8 10 114 15 35 21
data:
$ID,201
$MISSION,5
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,400
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,30
$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,100
$T_MISSION,115
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52153
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0026760499
$HD_B,0.0099998498
$HD_C,9.6916501e-06
$HEADING,-1
$ESCAPE_HEADING,48.400002
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3219.3999
$TGT_DEFAULT_LON,-6434.1001
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,73
$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,-1518.256
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3879
$C_PITCH,2810
$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,2753
$C_ROLL_CLIMB,2713
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,89
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2872
$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,50
$VBD_MAXERRORS,1
$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,-68.568054
$PRESSURE_SLOPE,0.000115772
$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,-1.28
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$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,0.0043923352
$SEABIRD_T_H,0.00063288247
$SEABIRD_T_I,2.48167e-05
$SEABIRD_T_J,2.9461089e-06
$SEABIRD_C_G,-9.7773972
$SEABIRD_C_H,1.1424111
$SEABIRD_C_I,-0.0015250822
$SEABIRD_C_J,0.00019393132
$GPS1,100814,152942,2757.781,-7051.647,16,1.0,16,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-56.5
$GPS2,100814,153425,2757.758,-7051.620,18,0.8,18,-11.9
$SPEED_LIMITS,0.231,0.324
$TGT_NAME,BRAVO
$TGT_LATLONG,2730.000,-7055.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.069,-0.317
$KALMAN_X,1704.6,900.7,250.6,-219.5,285.4
$KALMAN_Y,-589.7,-554.9,-412.7,-2400.8,681.3
$MHEAD_RNG_PITCHd_Wd,204.3,51707,-19.0,-13.333
$D_GRID,400
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,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,-1.22,-194.6,0.0,0.0,0,103,0.00,0.00,-85.78,0.000,2,0.000,0.000,191,2753,2694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-1.22,-194.6,2.4,-4.0,11,147,7.97,1.52,-27.33,0.000,4,0.210,0.063,2406,3756,3666,0,0,0,0,0,0,26.77,27.10,27.43
$GC,403,-1.22,-194.6,73.4,-21.2,61,412,0.00,1.38,0.00,0.000,6,0.000,0.024,2406,2739,3666,0,0,0,0,0,0,28.83,27.27,28.83
$GC,478,-1.22,-194.6,87.8,-19.3,70,486,0.00,1.50,0.00,0.000,4,0.000,0.043,2398,3743,3666,0,0,0,0,0,0,28.83,27.18,28.83
$GC,622,-1.22,-194.6,117.9,-19.5,94,631,0.00,1.35,0.00,0.000,6,0.000,0.024,2398,2746,3666,0,0,0,0,0,0,28.83,27.31,28.83
$GC,695,-1.22,-194.6,132.2,-19.1,103,704,0.00,1.92,0.00,0.000,4,0.000,0.021,2398,1365,3666,0,0,0,0,0,0,28.83,27.27,28.83
$GC,735,-1.22,-194.6,139.4,-17.8,109,744,0.00,2.03,0.00,0.000,6,0.000,0.030,2389,2754,3666,0,0,0,0,0,0,28.83,27.24,28.83
$GC,809,-1.22,-194.6,153.2,-19.2,118,817,0.12,0.00,0.00,0.000,6,0.167,0.000,2429,2754,3666,0,0,0,0,0,0,27.08,28.83,28.83
$GC,882,-1.22,-194.6,165.6,-16.7,127,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2754,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,953,-1.22,-194.6,177.6,-16.6,135,956,0.00,1.48,0.00,0.000,4,0.000,0.045,2422,3751,3665,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1011,-1.22,-194.6,186.0,-17.2,138,1020,0.00,1.35,0.00,0.000,6,0.000,0.024,2423,2756,3665,0,0,0,0,0,0,28.83,27.33,28.83
$GC,1139,-1.22,-194.6,208.9,-16.6,147,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2757,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1259,-1.22,-194.6,228.5,-16.1,155,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2757,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1379,-1.22,-194.6,247.5,-15.7,163,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2756,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1499,-1.22,-194.6,266.3,-15.5,171,1502,0.00,1.48,0.00,0.000,4,0.000,0.044,2415,3745,3663,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1549,-1.22,-194.6,274.4,-16.3,174,1552,0.00,1.35,0.00,0.000,6,0.000,0.025,2416,2758,3663,0,0,0,0,0,0,28.83,27.36,28.83
$GC,1686,-1.22,-194.6,296.3,-16.2,183,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2757,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1804,-1.22,-194.6,315.3,-15.9,188,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2757,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2105,-1.22,-194.6,363.3,-16.1,198,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2757,3660,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2342,begin apogee
$GC,2346,-0.26,0.0,402.2,-16.3,206,2489,0.88,0.00,138.02,0.743,6,0.107,0.000,2724,2757,2870,0,0,0,0,0,0,27.08,28.83,25.51
$STATE,2490,end apogee,CONTROL_FINISHED_OK
$STATE,2490,begin climb
$GC,2491,1.22,194.6,407.6,0.0,210,2641,1.30,2.15,140.75,0.732,4,0.063,0.024,3215,1332,2073,0,0,0,0,0,0,26.09,25.99,25.43
$GC,2697,1.27,241.7,392.1,11.2,216,2737,0.00,2.05,35.08,1.102,6,0.000,0.031,3215,2724,1885,0,0,0,0,0,0,28.83,26.44,25.42
$GC,3059,1.27,241.7,326.8,17.7,229,3063,0.00,1.98,0.00,0.000,4,0.000,0.026,3218,1326,1877,0,0,0,0,0,0,28.83,26.91,28.83
$GC,3243,1.27,241.7,297.1,16.8,235,3252,0.00,2.05,0.00,0.000,6,0.000,0.030,3217,2713,1876,0,0,0,0,0,0,28.83,27.02,28.83
$GC,3372,1.27,241.7,273.6,17.5,244,3377,0.00,1.95,0.00,0.000,4,0.000,0.027,3220,1314,1875,0,0,0,0,0,0,28.83,27.09,28.83
$GC,3410,1.27,241.7,268.1,17.4,246,3420,0.00,2.08,0.00,0.000,6,0.000,0.030,3219,2724,1876,0,0,0,0,0,0,28.83,27.08,28.83
$GC,3541,1.27,241.7,243.7,18.1,255,3546,0.00,1.95,0.00,0.000,4,0.000,0.025,3228,1321,1875,0,0,0,0,0,0,28.83,27.14,28.83
$GC,3612,1.27,241.7,232.6,17.5,259,3620,0.00,2.05,0.00,0.000,6,0.000,0.031,3228,2717,1875,0,0,0,0,0,0,28.83,27.15,28.83
$GC,3740,1.27,241.7,209.0,17.3,268,3745,0.00,1.95,0.00,0.000,4,0.000,0.026,3233,1315,1874,0,0,0,0,0,0,28.83,27.17,28.83
$GC,3796,1.27,241.7,200.9,16.8,271,3805,0.00,2.05,0.00,0.000,6,0.000,0.031,3234,2712,1875,0,0,0,0,0,0,28.83,27.17,28.83
$GC,3924,1.27,241.7,177.8,17.0,280,3925,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2713,1874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4050,1.27,241.7,156.7,16.7,294,4058,0.00,1.98,0.00,0.000,4,0.000,0.027,3235,1332,1874,0,0,0,0,0,0,28.83,27.22,28.83
$GC,4135,1.27,241.7,143.2,16.1,308,4144,0.00,2.03,0.00,0.000,6,0.000,0.032,3235,2714,1874,0,0,0,0,0,0,28.83,27.22,28.83
$GC,4209,1.27,241.7,131.4,16.4,317,4218,0.00,1.98,0.00,0.000,4,0.000,0.027,3242,1339,1874,0,0,0,0,0,0,28.83,27.24,28.83
$GC,4261,1.27,241.7,123.2,15.7,325,4269,0.00,2.00,0.00,0.000,6,0.000,0.031,3242,2707,1873,0,0,0,0,0,0,28.83,27.22,28.83
$GC,4334,1.27,241.7,111.5,15.6,334,4343,0.00,1.98,0.00,0.000,4,0.000,0.026,3246,1337,1873,0,0,0,0,0,0,28.83,27.25,28.83
$GC,4432,1.27,241.7,97.1,15.0,350,4441,0.00,2.03,0.00,0.000,6,0.000,0.032,3246,2721,1873,0,0,0,0,0,0,28.83,27.24,28.83
$GC,4506,1.27,241.7,86.3,14.7,359,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2721,1873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4578,1.27,241.7,75.7,15.2,368,4587,0.00,2.00,0.00,0.000,4,0.000,0.026,3252,1330,1873,0,0,0,0,0,0,28.83,27.27,28.83
$GC,4809,1.38,325.0,46.8,9.5,407,4849,0.00,2.03,32.72,0.218,6,0.000,0.031,3251,2720,1546,0,0,0,0,0,0,28.83,27.27,26.77
$GC,4915,1.38,328.2,34.5,13.2,420,4925,0.00,1.52,1.48,0.219,4,0.000,0.043,3251,3737,1537,0,0,0,0,0,0,28.83,27.10,26.80
$GC,4984,1.38,328.2,24.4,14.9,431,4993,0.00,1.40,0.00,0.000,6,0.000,0.024,3256,2710,1539,0,0,0,0,0,0,28.83,27.23,28.83
$GC,5058,1.38,328.2,13.6,14.4,440,5066,0.00,1.95,0.00,0.000,4,0.000,0.025,3258,1331,1539,0,0,0,0,0,0,28.83,27.19,28.83
$GC,5103,1.38,328.2,7.2,13.6,447,5112,0.00,2.03,0.00,0.000,6,0.000,0.031,3258,2717,1538,0,0,0,0,0,0,28.83,27.18,28.83
$STATE,5135,end climb,SURFACE_DEPTH_REACHED
$STATE,5135,begin surface coast
$FINISH,0.5,1.008609
$STATE,5153,end surface coast,CONTROL_FINISHED_OK
$STATE,5153,begin surface
$SM_CCo,5166,46.10,0.118,0,0,1032,450.13
$SM_GC,0.90,7.50,0.00,46.10,0.028,0.000,0.118,180,2718,1032,-8.11,-0.99,450.13,0,0,0,0,0,0,27.21,28.83,26.89
$IRIDIUM_FIX,2749.41,-7311.97,100814,151524
$TT8_MAMPS,0.025466,0.025466
$HUMID,54.48
$INTERNAL_PRESSURE,9.4919
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,25.4,2.239
$10V_AH,10.6,1.666
$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,17.775,58.500,348.050,46.100,0.000,0.000,0.000,0.000,0.000,0.000,19.761,1115.564,1933.574,479.673,1692.698,66.530,33.210,1107.796,0.000,1692.104,0.000,0.551,0.000
$DEVICE_MAMPS,210.375,62.730,1102.365,117.810,0.000,0.000,0.000,0.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,298.503,1327.544,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334140
$DATA_FILE_SIZE,23619,453
$CAP_FILE_SIZE,81063,0
$CFSIZE,260034560,255385600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100814,170323,2756.656,-7051.604,36,1.1,36,-11.9