version: 66.10
glider: 201
mission: 5
dive: 9
start: 8 10 114 22 39 25
data:
$ID,201
$MISSION,5
$DIVE,9
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$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,248
$T_MISSION,350
$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,250
$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,-1522.0228
$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,2490
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,75
$R_STBD_OVSHOOT,43
$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
$GPS1,100814,222535,2752.446,-7051.723,25,1.2,25,-11.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-61.0
$GPS2,100814,223829,2752.432,-7051.633,4,1.4,4,-11.9
$SPEED_LIMITS,0.230,0.358
$TGT_NAME,BRAVO
$TGT_LATLONG,2730.000,-7055.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.172,-0.314
$KALMAN_X,5470.4,-22.5,-67.0,-2760.2,1885.1
$KALMAN_Y,-2300.5,137.5,-84.1,-11573.3,-413.8
$MHEAD_RNG_PITCHd_Wd,220.6,41910,-16.8,-13.306
$D_GRID,990
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.16,-243.3,0.0,0.0,0,72,0.00,0.00,-55.17,0.000,2,0.000,0.000,184,2775,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-1.16,-243.3,2.3,-2.8,7,132,8.05,1.52,-43.75,0.000,4,0.207,0.064,2424,3761,3865,0,0,0,0,0,0,26.59,26.88,27.22
$GC,372,-1.16,-243.3,72.2,-21.5,56,381,0.00,1.42,0.00,0.000,6,0.000,0.024,2424,2730,3864,0,0,0,0,0,0,28.83,27.10,28.83
$GC,446,-1.16,-243.3,88.5,-21.0,65,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2730,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,519,-1.16,-243.3,103.5,-20.7,74,527,0.00,1.52,0.00,0.000,4,0.000,0.043,2416,3742,3865,0,0,0,0,0,0,28.83,27.05,28.83
$GC,582,-1.16,-243.3,116.3,-20.3,84,590,0.00,1.35,0.00,0.000,6,0.000,0.024,2416,2756,3865,0,0,0,0,0,0,28.83,27.17,28.83
$GC,655,-1.16,-243.3,130.4,-19.0,93,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2756,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,727,-1.16,-243.3,144.0,-18.7,102,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2756,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,800,-1.16,-243.3,157.7,-18.8,111,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2756,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,873,-1.16,-243.3,171.5,-19.3,120,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2755,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,942,-1.16,-243.3,184.4,-19.1,126,945,0.00,1.50,0.00,0.000,4,0.000,0.044,2408,3787,3865,0,0,0,0,0,0,28.83,27.13,28.83
$GC,1026,-1.16,-243.3,200.3,-19.5,131,1031,0.00,1.45,0.00,0.000,6,0.000,0.023,2408,2737,3865,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1161,-1.16,-243.3,225.9,-18.6,140,1164,0.00,1.52,0.00,0.000,4,0.000,0.044,2400,3771,3865,0,0,0,0,0,0,28.83,27.15,28.83
$GC,1227,-1.16,-243.3,238.4,-18.8,144,1231,0.08,1.38,0.00,0.000,6,0.128,0.024,2429,2764,3865,0,0,0,0,0,0,27.03,27.27,28.83
$GC,1364,-1.16,-243.3,261.9,-16.8,153,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2763,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1484,-1.16,-243.3,282.1,-16.8,161,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2764,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1604,-1.16,-243.3,302.3,-16.8,169,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2764,3864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1902,-1.16,-243.3,352.5,-16.6,179,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2764,3863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2202,-1.16,-243.3,402.4,-16.4,189,2206,0.00,1.48,0.00,0.000,4,0.000,0.045,2423,3746,3862,0,0,0,0,0,0,28.83,27.22,28.83
$GC,2236,-1.16,-243.3,407.6,-16.7,190,2240,0.00,1.38,0.00,0.000,6,0.000,0.024,2423,2748,3862,0,0,0,0,0,0,28.83,27.33,28.83
$GC,2562,-1.16,-243.3,462.6,-16.6,201,2566,0.00,1.50,0.00,0.000,4,0.000,0.045,2416,3769,3860,0,0,0,0,0,0,28.83,27.22,28.83
$GC,2600,-1.16,-243.3,467.8,-16.8,202,2605,0.00,1.40,0.00,0.000,6,0.000,0.024,2416,2749,3860,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2922,-1.16,-243.3,524.5,-17.2,213,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2749,3859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3222,-1.16,-243.3,576.2,-17.3,223,3226,0.00,1.50,0.00,0.000,4,0.000,0.045,2407,3781,3857,0,0,0,0,0,0,28.83,27.23,28.83
$GC,3300,-1.16,-243.3,587.1,-17.7,225,3305,0.00,1.40,0.00,0.000,6,0.000,0.024,2407,2753,3856,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3612,-1.16,-243.3,642.9,-16.4,236,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2752,3854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3912,-1.16,-243.3,691.7,-16.2,246,3916,0.00,1.50,0.00,0.000,4,0.000,0.045,2400,3783,3853,0,0,0,0,0,0,28.83,27.24,28.83
$GC,4010,-1.16,-243.3,706.9,-16.7,249,4015,0.10,1.42,0.00,0.000,6,0.119,0.024,2437,2748,3853,0,0,0,0,0,0,27.11,27.36,28.83
$GC,4332,-1.16,-243.3,753.6,-13.8,260,4336,0.00,1.50,0.00,0.000,4,0.000,0.047,2432,3764,3851,0,0,0,0,0,0,28.83,27.24,28.83
$GC,4365,-1.16,-243.3,757.9,-13.8,261,4370,0.00,1.40,0.00,0.000,6,0.000,0.024,2431,2748,3851,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4692,-1.16,-243.3,804.8,-14.4,272,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2748,3850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4993,-1.16,-243.3,849.2,-14.7,282,4996,0.00,1.50,0.00,0.000,4,0.000,0.047,2424,3771,3847,0,0,0,0,0,0,28.83,27.23,28.83
$GC,5055,-1.16,-243.3,858.3,-14.9,284,5060,0.00,1.40,0.00,0.000,6,0.000,0.026,2424,2760,3847,0,0,0,0,0,0,28.83,27.35,28.83
$GC,5382,-1.16,-243.3,907.4,-14.8,295,5386,0.00,1.50,0.00,0.000,4,0.000,0.047,2416,3750,3844,0,0,0,0,0,0,28.83,27.22,28.83
$GC,5443,-1.16,-243.3,916.5,-15.0,297,5446,0.00,1.40,0.00,0.000,6,0.000,0.028,2416,2754,3843,0,0,0,0,0,0,28.83,27.34,28.83
$GC,5774,-1.16,-243.3,955.7,-10.7,308,5780,0.00,1.95,0.00,0.000,4,0.000,0.026,2416,1345,3842,0,0,0,0,0,0,28.83,27.29,28.83
$GC,5791,-1.16,-243.3,955.7,-10.7,308,5795,0.00,2.08,0.00,0.000,6,0.000,0.032,2406,2747,3842,0,0,0,0,0,0,28.83,27.27,28.83
$STATE,6041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6041,begin apogee
$GC,6045,-0.26,0.0,992.2,-15.0,317,6236,0.90,0.00,183.55,1.125,6,0.105,0.000,2725,2449,2869,0,0,0,0,0,0,27.05,28.83,24.78
$STATE,6237,end apogee,CONTROL_FINISHED_OK
$STATE,6237,begin climb
$GC,6238,1.16,243.3,999.1,0.0,323,6442,1.25,2.00,189.93,1.646,4,0.062,0.028,3189,1147,1883,0,0,0,0,1,0,25.58,25.20,24.18
$GC,6669,1.16,243.3,946.9,15.2,338,6673,0.00,2.00,0.00,0.000,6,0.000,0.031,3189,2500,1884,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6994,1.16,243.3,896.8,15.4,349,6998,0.00,2.00,0.00,0.000,4,0.000,0.030,3189,1132,1881,0,0,0,0,0,0,28.83,26.83,28.83
$GC,7147,1.16,243.3,874.8,15.0,354,7152,0.00,2.03,0.00,0.000,6,0.000,0.031,3189,2487,1881,0,0,0,0,0,0,28.83,26.89,28.83
$GC,7471,1.16,243.3,824.1,15.3,365,7476,0.00,1.95,0.00,0.000,4,0.000,0.031,3189,1131,1879,0,0,0,0,0,0,28.83,27.01,28.83
$GC,7513,1.16,243.3,819.8,15.0,366,7517,0.00,2.03,0.00,0.000,6,0.000,0.031,3189,2496,1879,0,0,0,0,0,0,28.83,27.01,28.83
$GC,7830,1.16,243.3,770.9,14.8,377,7833,0.00,1.95,0.00,0.000,4,0.000,0.031,3189,1135,1878,0,0,0,0,0,0,28.83,27.08,28.83
$GC,7893,1.16,243.3,763.2,14.4,379,7897,0.00,2.03,0.00,0.000,6,0.000,0.031,3189,2496,1878,0,0,0,0,0,0,28.83,27.08,28.83
$GC,8217,1.16,243.3,715.0,14.7,390,8222,0.00,1.95,0.00,0.000,4,0.000,0.031,3189,1131,1877,0,0,0,0,0,0,28.83,27.12,28.83
$GC,8283,1.16,243.3,706.4,14.7,392,8287,0.00,2.03,0.00,0.000,6,0.000,0.031,3189,2496,1876,0,0,0,0,0,0,28.83,27.13,28.83
$GC,8605,1.16,243.3,658.1,14.9,403,8609,0.00,1.95,0.00,0.000,4,0.000,0.030,3190,1129,1876,0,0,0,0,0,0,28.83,27.16,28.83
$GC,8631,1.16,243.3,654.2,14.9,404,8635,0.00,1.98,0.00,0.000,6,0.000,0.031,3189,2495,1876,0,0,0,0,0,0,28.83,27.15,28.83
$GC,8956,1.16,243.3,606.3,14.7,415,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2495,1876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9256,1.16,243.3,562.4,14.8,425,9260,0.00,1.92,0.00,0.000,4,0.000,0.029,3189,1138,1877,0,0,0,0,0,0,28.83,27.20,28.83
$GC,9349,1.16,243.3,550.2,14.5,428,9354,0.00,2.00,0.00,0.000,6,0.000,0.030,3189,2493,1877,0,0,0,0,0,0,28.83,27.19,28.83
$GC,9673,1.16,243.3,501.4,15.0,439,9678,0.00,1.92,0.00,0.000,4,0.000,0.029,3189,1135,1877,0,0,0,0,0,0,28.83,27.22,28.83
$GC,9711,1.16,243.3,497.0,15.0,440,9715,0.00,1.95,0.00,0.000,6,0.000,0.030,3189,2497,1877,0,0,0,0,0,0,28.83,27.21,28.83
$GC,10027,1.16,243.3,447.5,15.2,451,10030,0.00,1.95,0.00,0.000,4,0.000,0.029,3189,1133,1877,0,0,0,0,0,0,28.83,27.23,28.83
$GC,10090,1.16,243.3,439.2,15.1,453,10094,0.00,2.00,0.00,0.000,6,0.000,0.030,3189,2493,1877,0,0,0,0,0,0,28.83,27.23,28.83
$GC,10413,1.16,243.3,388.3,15.3,464,10419,0.00,1.92,0.00,0.000,4,0.000,0.028,3189,1132,1879,0,0,0,0,0,0,28.83,27.24,28.83
$GC,10472,1.16,243.3,379.2,15.2,466,10476,0.00,1.95,0.00,0.000,6,0.000,0.029,3189,2493,1878,0,0,0,0,0,0,28.83,27.23,28.83
$GC,10797,1.16,243.3,329.9,15.1,477,10801,0.00,1.92,0.00,0.000,4,0.000,0.028,3189,1128,1880,0,0,0,0,0,0,28.83,27.25,28.83
$GC,10861,1.16,243.3,322.0,14.7,479,10865,0.00,1.98,0.00,0.000,6,0.000,0.030,3189,2483,1880,0,0,0,0,0,0,28.83,27.24,28.83
$GC,11170,1.16,243.3,274.3,15.3,495,11175,0.00,1.92,0.00,0.000,4,0.000,0.029,3189,1133,1882,0,0,0,0,0,0,28.83,27.26,28.83
$GC,11217,1.16,243.3,267.1,15.1,498,11223,0.00,1.92,0.00,0.000,6,0.000,0.028,3189,2491,1882,0,0,0,0,0,0,28.83,27.24,28.83
$GC,11353,1.16,243.3,246.9,14.7,507,11354,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2491,1882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11472,1.16,243.3,229.1,14.9,515,11478,0.00,1.90,0.00,0.000,4,0.000,0.028,3190,1139,1883,0,0,0,0,0,0,28.83,27.25,28.83
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$GC,11811,1.16,243.3,181.3,14.4,537,11816,0.00,1.90,0.00,0.000,4,0.000,0.027,3203,1122,1883,0,0,0,0,0,0,28.83,27.27,28.83
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$GC,12068,1.16,243.3,144.2,14.2,567,12078,0.08,1.95,0.00,0.000,6,0.144,0.027,3191,2489,1884,0,0,0,0,0,0,27.05,27.26,28.83
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$GC,12994,1.36,403.9,17.5,12.4,686,13012,0.00,1.95,10.02,0.166,4,0.000,0.025,3234,1126,1222,0,0,0,0,0,0,28.83,26.96,26.70
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$STATE,13105,end climb,SURFACE_DEPTH_REACHED
$STATE,13105,begin surface coast
$FINISH,0.8,1.008770
$STATE,13121,end surface coast,CONTROL_FINISHED_OK
$STATE,13122,begin surface
$SM_CCo,13136,17.98,0.125,0,0,1034,450.13
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$IRIDIUM_FIX,2742.10,-7049.96,100814,222236
$TT8_MAMPS,0.025466,0.025466
$HUMID,52.91
$INTERNAL_PRESSURE,9.37471
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,24.2,2.636
$10V_AH,10.5,1.964
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.325,121.800,443.300,17.975,0.000,86.078,164.847,118.902,0.000,0.000,5.875,1874.159,8424.885,536.347,2793.237,123.622,33.241,1618.721,0.000,2391.799,0.000,0.550,0.000
$DEVICE_MAMPS,207.315,64.260,1645.515,124.695,0.000,12.240,160.000,223.000,420.000,0.000,28.460,15.710,2.190,15.710,44.920,50.160,67.390,15.000,0.000,8.240,0.000,5.000,0.000
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$SENSOR_MAMPS,23.220,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334080
$DATA_FILE_SIZE,40218,702
$CAP_FILE_SIZE,139906,0
$CFSIZE,260034560,255156224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,110814,021953,2749.602,-7052.289,39,0.8,39,-11.9